diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6097c8499b34bcb515ea2ff84427bf2fe421aef6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0c99e29c3ef72b7c9ee98c2d411ad4c05ebfdd88e8f99bc9ac43fe87c33e482
+size 4545299
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ad4aada0f9665abea6531fb6e50e7896325bc614
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7007b4e9edec01565ffaf4fc7b518b4d85045295faff2b48ec499ead847e6b60
+size 5598894
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4a7fc12d4c310540b657131af6f35c6b2a9bf9f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:351f3be7c9a858da15d7e7b0b8a55902d280bd45b76b968d172e9f1c45a850c8
+size 4825003
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4195a32b927d4a00fe6aaa1e554133799dc2e3c0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:436d7d76948b2b5eabd5ebb788c5a417c38049b3f74184c981911265f2ff0fc4
+size 4721313
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5f591b42980cce9b76ab5ddc5abe78fb366904cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79ee8ec52d9d209710e2cbf89eaf1ce0178622e417abb6e6e120bfce3befeee6
+size 5328140
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1a299a94e781911a0bca8fe9ed2c077598692276
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..17c7f5a79b5c86f70afe2a22c3ce9f4ba8b2aed3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-04T06:09:55","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[-0.591796994732348,-1.229593772003142,0.71338606911949],"aabb_xy":[[-0.5959328510650483,-1.267093771447499],[-0.587661138399648,-1.192093772558785]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.5110571484169117,-1.4126497365423443,0.71338606911949],"aabb_xy":[[0.43105714976002585,-1.427154595466607],[0.5910571470737979,-1.3981448776180816]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.2485574751515922,0.7753732670788658,0.71338606911949],"aabb_xy":[[0.22497235168769739,0.7103732648334339],[0.27214259861548706,0.8403732693242975]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.6703519836842005,-0.4813922215146942,0.71338606911949],"aabb_xy":[[0.6626487930101235,-0.4891015922134322],[0.6780551743582774,-0.4736828508159562]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[-0.027458120672038677,-1.5396899153274426,0.71338606911949],"aabb_xy":[[-0.03687559524190143,-1.5491060924651616],[-0.018040646102175924,-1.5302737381897236]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.5085546958078122,1.1769306798802561,0.71338606911949],"aabb_xy":[[-0.5460546957515786,1.1686375898454195],[-0.4710546958640458,1.1852237699150927]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[0.008380333098713666,-0.63864477339536,0.71338606911949],"aabb_xy":[[0.004677071769574797,-0.6423467917040777],[0.012083594427852533,-0.634942755086642]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.21575132232429478,-0.3147301695201725,0.71338606911949],"aabb_xy":[[-0.2271130569775809,-0.3260986359264606],[-0.2043895876710086,-0.30336170311388444]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.22517718596450642,-1.842120677070541,0.71338606911949],"aabb_xy":[[0.21601730702062982,-1.848651895114078],[0.23433706490838302,-1.8355894590270039]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.2330260262888577,-0.5478380431817329,0.71338606911949],"aabb_xy":[[0.20303436355498736,-0.5778380425185333],[0.26301768902272804,-0.5178380438449323]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.13812285006207325,-1.5582596513882212,0.71338606911949],"aabb_xy":[[0.11901054270409439,-1.5773944302654634],[0.15723515742005212,-1.5391248725109794]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[0.29319975273217136,-2.4314121667910578,0.71338606911949],"aabb_xy":[[0.22819975009437787,-2.4828917654905047],[0.35819975536996485,-2.379932568091611]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[-0.3929667985286526,-2.1068067436955635,0.71338606911949],"aabb_xy":[[-0.43398474191502345,-2.156806744326521],[-0.3519488551422817,-2.056806743064606]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[-0.5999895298944891,1.762370119342917,0.71338606911949],"aabb_xy":[[-0.6599895297410558,1.7055514971498784],[-0.5399895300479223,1.8191887415359558]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[-0.22685752362098516,-0.21586965836418015,0.71338606911949],"aabb_xy":[[-0.26435752396921286,-0.2276610539452637],[-0.18935752327275737,-0.2040782627830966]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[-0.6423577778384705,-2.5244153308904402,0.71338606911949],"aabb_xy":[[-0.6483243167792062,-2.5303764755498044],[-0.6363912388977345,-2.518454186231076]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.6030990704989029,-0.5503687614880652,0.71338606911949],"aabb_xy":[[-0.6155664286086385,-0.5628340861213887],[-0.5906317123891672,-0.5379034368547417]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[-0.5469864848957906,-2.2275589490363417,0.71338606911949],"aabb_xy":[[-0.60198196271645,-2.282558950470248],[-0.4919910070751312,-2.1725589476024343]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[-0.3708026131789599,0.6790034572314352,0.71338606911949],"aabb_xy":[[-0.3816542194278355,0.6681441665037842],[-0.3599510069300843,0.6898627479590862]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[0.10690291492677972,-1.7003440970947081,0.71338606911949],"aabb_xy":[[0.08562490678330746,-1.765344099420781],[0.12818092307025197,-1.6353440947686348]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[0.16628808828748898,-1.0264356709525735,0.71338606911949],"aabb_xy":[[0.11129487695035226,-1.0814356712913673],[0.22128129962462578,-0.9714356706137801]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[0.14952420436929104,1.2309640019843893,0.71338606911949],"aabb_xy":[[0.11452420609917113,1.223889874289401],[0.18452420263941094,1.2380381296793774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619759329398285,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7850.png","name":"7850"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7850.png","name":"7850"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9548.png","name":"9548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3595.png","name":"3595"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2819.png","name":"2819"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7368.png","name":"7368"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":538.861878211578,"rotation_z_degrees":235.83970642144934,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002159552273274093,-0.011555488770561789,0.009116146457321065]},{"name":"camera_2","offset_m":[0.0031208401005382233,-0.005221875753829392,0.017735548716255812]},{"name":"camera_3","offset_m":[-0.00469352107166701,0.008335699821990873,-0.01842189227201609]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006712404577836817,-0.00036849249590722045,-0.0018482713479718838],"end_effector_yaw_offset_degrees":0.7335136716003812},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007428339811496089,0.0002143581611164392,0.0005805482480208367],"end_effector_yaw_offset_degrees":-0.042258121887602584},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001797811232058032,0.0016901762894479563,-0.00044413561665911116],"end_effector_yaw_offset_degrees":0.467601475042436}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029572547112197154,0.00391426284870714],"position_m":[0.20655725471121972,-0.04188573715129286,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00476231772329684,-0.00010931717138497853],"position_m":[0.23003768227670318,-0.36370931717138494,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003068052455631144,-0.0026190054633265635],"position_m":[0.1689931947544369,0.22748099453667345,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016798313563092405,0.0030087501972702923],"position_m":[0.33212016864369076,0.12070875019727029,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c55bffbe24d0d3ee720e1f63b049206df729d8f4b611dc326d7a4f54ce790c0","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7850/tex_ceiling_textures_7368/tex_floor_textures_2819/tex_table_textures_9548/tex_wall_textures_3595","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1318064923384964511,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1318064923384964511,"visual_seed":1318064923384964511,"scene_id":"lab_003","finished_at":"2026-09-04T06:12:37"}
+{"episode_id":"ep_000001","started_at":"2026-09-04T06:12:43","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.37069590511328543,1.0978706305851036,0.71338606911949],"aabb_xy":[[0.29069590295052294,1.01791544695896],[0.4506959072760479,1.1778258142112472]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.5301843451372281,-2.096673501014306,0.71338606911949],"aabb_xy":[[-0.5729510520166483,-2.1606735044361085],[-0.48741763825780793,-2.0326734975925036]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.44268517556764975,-0.01296105201690878,0.71338606911949],"aabb_xy":[[0.42953392959636044,-0.03796105177359533],[0.45583642153893916,0.012038947739777765]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.5890495468710011,0.3182117553455388,0.71338606911949],"aabb_xy":[[0.5240495442332076,0.26673215664609184],[0.6540495495087946,0.36969135404498576]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.12493724091132741,-2.2624139870719207,0.71338606911949],"aabb_xy":[[-0.16993724237755625,-2.3074138439334018],[-0.07993723944509855,-2.2174141302104404]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.4459915604066581,0.9395418754107165,0.71338606911949],"aabb_xy":[[-0.45089085271322155,0.9118649561081476],[-0.44109226810009455,0.9672187947132851]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.47672769604225596,-1.833322651152013,0.71338606911949],"aabb_xy":[[0.4641249969051795,-1.8459180473768786],[0.4893303951793324,-1.8207272549271476]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.17155672625226825,1.5160652338058287,0.71338606911949],"aabb_xy":[[0.12157930938701463,1.46606523231658],[0.2215341431175218,1.566065235295077]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[0.03393696228536469,-2.334538695363184,0.71338606911949],"aabb_xy":[[0.027970423344628903,-2.3404998400225483],[0.03990350122610048,-2.32857755070382]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[-0.4678427982303216,0.07826439006247954,0.71338606911949],"aabb_xy":[[-0.48534279847537093,0.060764602222912696],[-0.45034279798527216,0.09576417790204639]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[-0.012358812852210188,-0.7533756593905261,0.71338606911949],"aabb_xy":[[-0.021140039999446417,-0.7621554066790565],[-0.003577585704973963,-0.744595912101996]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[0.5770148960219421,-1.336759543532882,0.71338606911949],"aabb_xy":[[0.5348304818611114,-1.4007595438100935],[0.6191993101827729,-1.272759543255671]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[-0.4765776010522992,-2.3971929762176925,0.71338606911949],"aabb_xy":[[-0.526577602002832,-2.4287421232212134],[-0.4265776001017664,-2.3656438292141706]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[0.4753170802207678,1.5995465315071793,0.71338606911949],"aabb_xy":[[0.4689032665775828,1.5931367112595105],[0.4817308938639527,1.6059563517548472]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[-0.21741869972193184,0.6399126796011592,0.71338606911949],"aabb_xy":[[-0.22757171527608114,0.6038431380284187],[-0.20726568416778238,0.6759822211738994]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[0.6283229181116234,0.5673134230214547,0.71338606911949],"aabb_xy":[[0.5908229182945899,0.5626752117103128],[0.665822917928657,0.5719516343325964]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.5472778262991662,-2.427507647216709,0.71338606911949],"aabb_xy":[[0.4921526206695754,-2.4875076486579957],[0.6024030319287569,-2.3675076457754214]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[0.3286288041055352,-1.658703082489295,0.71338606911949],"aabb_xy":[[0.3168606173108777,-1.743703082394517],[0.34039699090019276,-1.5737030825840739]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[-0.12242613380845857,-1.100525609584943,0.71338606911949],"aabb_xy":[[-0.13565707934313986,-1.1137530286069421],[-0.10919518827377726,-1.0872981905629433]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.18327854191829918,-0.8797660059475665,0.71338606911949],"aabb_xy":[[0.1332854298091073,-0.9297660066217622],[0.2332716540274911,-0.829766005273371]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.076092729826024,1.2827292352961641,0.71338606911949],"aabb_xy":[[0.06796504163271078,1.2738156268854564],[0.08422041801933722,1.2916428437068719]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[0.5737134063805029,0.8960347771449384,0.71338606911949],"aabb_xy":[[0.5654988612648189,0.887358186847297],[0.5819279514961868,0.9047113674425796]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.4159292123071788,0.3159267352863746,0.71338606911949],"aabb_xy":[[-0.4659292118835135,0.2659461563342687],[-0.36592921273084406,0.3659073142384806]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[0.47832569870648034,-0.38044347861983807,0.71338606911949],"aabb_xy":[[0.453325699434518,-0.3967888422160004],[0.5033256979784425,-0.36409811502367573]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[-0.27418057967032117,-1.5770887844692794,0.71338606911949],"aabb_xy":[[-0.3115118561955638,-1.6117418392641318],[-0.2368493031450786,-1.5424357296744273]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[0.6550293881877831,1.2707161863986105,0.71338606911949],"aabb_xy":[[0.6399270867267649,1.255614664767548],[0.6701316896488011,1.2858177080296718]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[0.1461934532562158,1.3158197539243424,0.71338606911949],"aabb_xy":[[0.1420575969235156,1.2783197544799856],[0.150329309588916,1.3533197533686996]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[0.15767243907274653,-0.5488436344708929,0.71338606911949],"aabb_xy":[[0.1452050809630109,-0.5613089591042164],[0.1701397971824822,-0.5363783098375694]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_28","position":[0.47176214231134317,-1.060437003863082,0.71338606911949],"aabb_xy":[[0.46768398440429343,-1.0645179841113452],[0.4758403002183929,-1.0563560236148186]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_29","position":[-0.13499593263417908,-1.4328181659997057,0.71338606911949],"aabb_xy":[[-0.2049959342364586,-1.4462509592013635],[-0.06499593103189963,-1.4193853727980483]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_30","position":[0.35853136396092244,-0.6065318548656655,0.71338606911949],"aabb_xy":[[0.31722682089718646,-0.6705318544337825],[0.39983590702465843,-0.5425318552975483]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_31","position":[-0.02492946125471507,-1.561757551591179,0.71338606911949],"aabb_xy":[[-0.08492946110128186,-1.6185761737842175],[0.03507053859185172,-1.5049389293981401]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6637614220575035,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1435.png","name":"1435"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1435.png","name":"1435"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1428.png","name":"1428"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4457.png","name":"4457"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8174.png","name":"8174"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9788.png","name":"9788"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":805.9645909567373,"rotation_z_degrees":241.66902032837152,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01331246311412895,0.0026550485364529794,0.014415299522538259]},{"name":"camera_2","offset_m":[-0.019508193884832933,0.004488784675601751,0.01560503248450133]},{"name":"camera_3","offset_m":[-0.00321784227608566,0.017828840265220924,0.019973251437691863]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-8.766694073677659e-05,0.0013441942683063575,-0.0017617106410176282],"end_effector_yaw_offset_degrees":-0.07335399490162375},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.599996948315845e-05,-0.0008082524075216885,-0.0005402794740049161],"end_effector_yaw_offset_degrees":0.385492435685864},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001990128964531236,0.0013508750241296975,-0.0015850007522795427],"end_effector_yaw_offset_degrees":0.9143177911735545}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001889787368016007,-0.0036140419910652187],"position_m":[0.201710212631984,-0.04941404199106522,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0045477851634918255,-0.003025351798234658],"position_m":[0.23025221483650818,-0.36662535179823463,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009106907408558016,0.00019734094286414164],"position_m":[0.17021069074085582,0.23029734094286414,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0049200602946879455,0.00015159534181805566],"position_m":[0.32887993970531204,0.11785159534181805,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c7ee699636b58d14a67c7abdfd59a213b91c91d3563412e7019a93e1313e901","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1435/tex_ceiling_textures_9788/tex_floor_textures_8174/tex_table_textures_1428/tex_wall_textures_4457","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2192875581014282165,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2192875581014282165,"visual_seed":2192875581014282165,"scene_id":"lab_003","finished_at":"2026-09-04T06:15:44"}
+{"episode_id":"ep_000002","started_at":"2026-09-04T06:15:48","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.5706405622629871,0.6772628712993001,0.71338606911949],"aabb_xy":[[-0.5787682504563004,0.6683492628885925],[-0.562512874069674,0.6861764797100078]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.04425741632552471,0.23739520251579993,0.71338606911949],"aabb_xy":[[-0.051539732702188354,0.1473951989062909],[-0.03697509994886104,0.32739520612530887]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[0.6948506260109979,0.4304744647331842,0.71338606911949],"aabb_xy":[[0.6832816452640613,0.40547446461625253],[0.7064196067579345,0.45547446485011595]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[-0.678911842947757,1.6141823889846925,0.71338606911949],"aabb_xy":[[-0.6869552028737121,1.5291823878893258],[-0.6708684830218018,1.6991823900800587]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.3364638834408846,1.6416576415176478,0.71338606911949],"aabb_xy":[[0.2664638816321392,1.6203038727534604],[0.40646388524963006,1.6630114102818352]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.5558505536010481,1.2146841757330096,0.71338606911949],"aabb_xy":[[-0.645850557277966,1.1532517691559048],[-0.46585054992412966,1.2761165823101135]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[-0.09669040901516845,-0.6869000244247283,0.71338606911949],"aabb_xy":[[-0.12708852011431204,-0.7173069264263978],[-0.06629229791602487,-0.6564931224230588]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[-0.206701784926268,-0.9947153429882392,0.71338606911949],"aabb_xy":[[-0.29670178352073795,-1.0109659293016602],[-0.11670178633179809,-0.9784647566748182]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[0.38121733841433936,-2.1609276760898544,0.71338606911949],"aabb_xy":[[0.32720174213243924,-2.224927678982111],[0.43523293469623925,-2.0969276731975968]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[-0.3925809375293599,1.3685424117713656,0.71338606911949],"aabb_xy":[[-0.42991221405460256,1.3338893569765136],[-0.35524966100411726,1.403195466566218]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[-0.3253697809097884,-0.35396905892923947,0.71338606911949],"aabb_xy":[[-0.35651669975337147,-0.42396905761604664],[-0.29422286206620524,-0.2839690602424323]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_11","position":[0.6212153752984857,-2.0213048393936357,0.71338606911949],"aabb_xy":[[0.5866242924444404,-2.0863048396786663],[0.6558064581525308,-1.9563048391086044]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[0.0439318926874559,-2.269351205639973,0.71338606911949],"aabb_xy":[[0.02643189244240651,-2.2868509934795394],[0.061431892932505276,-2.2518514178004057]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.24568500333689902,0.7274849725853647,0.71338606911949],"aabb_xy":[[-0.250528598098129,0.7226333201063806],[-0.24084140857566902,0.7323366250643488]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.2229670254654223,0.18198979911398583,0.71338606911949],"aabb_xy":[[-0.2529586881992926,0.1519897997771853],[-0.19297536273155197,0.21198979845078636]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[0.5890411235292135,0.7684805427082191,0.71338606911949],"aabb_xy":[[0.582539487021209,0.7587127206819094],[0.5955427600372182,0.778248364734529]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[-0.3048439724212603,0.9027887055983963,0.71338606911949],"aabb_xy":[[-0.31017648707587325,0.8974643773531608],[-0.2995114577666473,0.9081130338436318]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[-0.45634769631165734,-0.99967848401514,0.71338606911949],"aabb_xy":[[-0.4739259985006042,-1.0172529735892448],[-0.4387693941227105,-0.9821039944410351]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[-0.18746974340453892,-0.8981481435493559,0.71338606911949],"aabb_xy":[[-0.19154790131158866,-0.9022291237976192],[-0.18339158549748918,-0.8940671633010926]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.1163038573211318,-0.8804143872909755,0.71338606911949],"aabb_xy":[[0.05230385591314112,-0.9322033388149001],[0.18030385872912244,-0.8286254357670507]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.5387683179994142,-0.16408593543523065,0.71338606911949],"aabb_xy":[[-0.5730652290171546,-0.198382821645172],[-0.5044714069816735,-0.12978904922528925]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.560011657790956,-2.32695404092487,0.71338606911949],"aabb_xy":[[0.522511657498781,-2.3309955163254736],[0.5975116580831307,-2.322912565524266]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_22","position":[-0.5177170124622288,0.43997929759811205,0.71338606911949],"aabb_xy":[[-0.5511571876582482,0.4065356717671819],[-0.484276837266209,0.4734229234290421]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[0.4940149292959797,-1.537358635757584,0.71338606911949],"aabb_xy":[[0.48276987372536184,-1.5486004334816792],[0.5052599848665975,-1.5261168380334886]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.6066731858552682,-2.1075911550564355,0.71338606911949],"aabb_xy":[[-0.6706731875332655,-2.1561085465357492],[-0.5426731841772708,-2.059073763577121]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[0.634418012615104,-1.093686400400808,0.71338606911949],"aabb_xy":[[0.6119180123715886,-1.10589103506058],[0.6569180128586194,-1.081481765741036]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[0.4922576611838996,-1.4349921837489368,0.71338606911949],"aabb_xy":[[0.47558052519080407,-1.451692107722867],[0.5089347971769951,-1.4182922597750065]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[-0.4303168874167255,-2.4928858261517086,0.71338606911949],"aabb_xy":[[-0.480294304281979,-2.542885827640957],[-0.3803394705514718,-2.44288582466246]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_28","position":[-0.5743141355705773,1.6109051053202559,0.71338606911949],"aabb_xy":[[-0.596203883159518,1.5209051080310065],[-0.5524243879816364,1.7009051026095048]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[-0.11167307137321869,1.2860759938037627,0.71338606911949],"aabb_xy":[[-0.19539529687330115,1.1960759902690665],[-0.027950845873136218,1.3760759973384584]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_30","position":[-0.3424600860756087,0.42491391161670133,0.71338606911949],"aabb_xy":[[-0.40646008536977685,0.36092777124784714],[-0.2784600867814404,0.48890005198555553]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_31","position":[0.09929184668980373,-1.9567268080802553,0.71338606911949],"aabb_xy":[[0.05827390330343285,-2.0067268087112127],[0.1403097900761746,-1.906726807449298]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_32","position":[0.5238031965253187,-1.7988225300324925,0.71338606911949],"aabb_xy":[[0.43880319783324406,-1.8308083934273711],[0.6088031952173933,-1.7668366666376134]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_33","position":[-0.27436599917287463,-1.5481794766654748,0.71338606911949],"aabb_xy":[[-0.3543660013356371,-1.6281346602916182],[-0.19436599701011215,-1.468224293039331]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707754104123524,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6595.png","name":"6595"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6595.png","name":"6595"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2356.png","name":"2356"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/992.png","name":"992"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5024.png","name":"5024"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1428.png","name":"1428"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":567.2034361989755,"rotation_z_degrees":138.83592002053695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0026200130497783455,0.015363756607232004,-0.01622659343885192]},{"name":"camera_2","offset_m":[0.01337490352702236,0.006335079211952321,0.014307031603179806]},{"name":"camera_3","offset_m":[-0.009790643445839686,-0.0025062128546663003,0.009710324240880662]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008634764160384489,0.0018632862197136596,-0.0015733523683481483],"end_effector_yaw_offset_degrees":0.5147679409589148},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00038399348348687836,-0.0006532417454527138,0.0014279297925034696],"end_effector_yaw_offset_degrees":-0.2728172503384467},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019177541394482538,-0.0018080575610821535,-0.0004533588783247784],"end_effector_yaw_offset_degrees":0.04625122391679337}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012722306096286497,0.0024836412744855645],"position_m":[0.20487223060962864,-0.04331635872551444,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032956433880678435,-0.0038686954831714305],"position_m":[0.23809564338806785,-0.3674686954831714,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029867264303309474,0.0033083766736589195],"position_m":[0.17228672643033097,0.2334083766736589,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025584519736216657,-0.002329105793291619],"position_m":[0.33635845197362163,0.11537089420670837,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3bdca419b0f2ddeeb0564a28671553a5c7a0d36d534c49ce660f858bfc86c3b9","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0002.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6595/tex_ceiling_textures_1428/tex_floor_textures_5024/tex_table_textures_2356/tex_wall_textures_992","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3435655839006894716,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3435655839006894716,"visual_seed":3435655839006894716,"scene_id":"lab_003","finished_at":"2026-09-04T06:18:35"}
+{"episode_id":"ep_000003","started_at":"2026-09-04T06:18:40","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[-0.10069502298830746,-1.8390611027288164,0.71338606911949],"aabb_xy":[[-0.16469502010041315,-1.888093472523227],[-0.036695025876201756,-1.7900287329344058]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[-0.5984281757215207,-2.2179948052348655,0.71338606911949],"aabb_xy":[[-0.6295750945651039,-2.2879948039216726],[-0.5672812568779376,-2.1479948065480583]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.6616741976823717,-2.4550244415938787,0.71338606911949],"aabb_xy":[[0.6438050899279162,-2.4688573495710897],[0.6795433054368272,-2.4411915336166676]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[0.07891939342171261,1.0386975442907187,0.71338606911949],"aabb_xy":[[-0.001080605235173393,1.0241926853664558],[0.15891939207859862,1.0532024032149816]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[-0.008912498759822696,-0.8342386074855908,0.71338606911949],"aabb_xy":[[-0.04454165465978244,-0.8698712742424438],[0.026716657140137046,-0.7986059407287379]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[-0.4622719708799359,0.9119063610027718,0.71338606911949],"aabb_xy":[[-0.5272719709142386,0.8652056843224445],[-0.39727197084563315,0.9586070376830991]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[-0.11919182372543591,1.4094329950795679,0.71338606911949],"aabb_xy":[[-0.12560563736862082,1.4030231748318993],[-0.11277801008225095,1.415842815327236]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[-0.6754650855194835,-0.8193578015414238,0.71338606911949],"aabb_xy":[[-0.6929650846538505,-0.8292374285790115],[-0.6579650863851162,-0.8094781745038359]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[-0.22160211499413635,0.8218829197825595,0.71338606911949],"aabb_xy":[[-0.28560211229648275,0.7775164928147027],[-0.15760211769178994,0.8662493467504162]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.3141491686109654,0.5730638310007712,0.71338606911949],"aabb_xy":[[-0.3640318654886616,0.5230638317544966],[-0.2642664717332692,0.623063830247046]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.2960404296391692,-0.6013477790300445,0.71338606911949],"aabb_xy":[[0.2735412939129422,-0.6238477798083075],[0.3185395653653961,-0.5788477782517816]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.31234339798204813,-1.7900955937519452,0.71338606911949],"aabb_xy":[[-0.3723433985780643,-1.8449080662971689],[-0.25234339738603195,-1.735283121206722]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[-0.04551398790763295,1.4988858113215584,0.71338606911949],"aabb_xy":[[-0.06219112390072845,1.4821858873476281],[-0.028836851914537442,1.5155857352954887]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.3473163858959512,0.4053672659032941,0.71338606911949],"aabb_xy":[[-0.4073163861473523,0.3510859408668294],[-0.28731638564455,0.45964859093975874]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.11486076257487277,-1.5301619731108884,0.71338606911949],"aabb_xy":[[-0.16003208042304176,-1.5941619702554273],[-0.06968944472670381,-1.4661619759663502]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.5440575360933888,-0.9044816992452049,0.71338606911949],"aabb_xy":[[-0.5542105516475381,-0.940551240817945],[-0.5339045205392393,-0.8684121576724643]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.6107133481014042,-0.05929276821649054,0.71338606911949],"aabb_xy":[[0.5736792386733444,-0.09366997555019999],[0.6477474575294638,-0.024915560882781088]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[0.6068694502983676,-1.4876177467926288,0.71338606911949],"aabb_xy":[[0.556869450722033,-1.537598325744735],[0.6568694498747024,-1.437637167840523]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.33126985196639125,0.7963984803692621,0.71338606911949],"aabb_xy":[[0.3153853587010661,0.782045540070438],[0.3471543452317164,0.8107514206680861]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.10122048700964292,0.7512420749032866,0.71338606911949],"aabb_xy":[[-0.1113021940882164,0.6712420770111719],[-0.09113877993106945,0.8312420727954012]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[0.3391461942695295,-1.3412391044137617,0.71338606911949],"aabb_xy":[[0.3091786373597038,-1.3712391047116472],[0.36911375117935513,-1.3112391041158757]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.20110795154042022,-2.3808618339950813,0.71338606911949],"aabb_xy":[[-0.21821002949878837,-2.3979686395263506],[-0.18400587358205206,-2.363755028463811]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[0.2762696384926906,1.7132117791580659,0.71338606911949],"aabb_xy":[[0.23876963820051578,1.7091703037574622],[0.3137696387848654,1.7172532545586692]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.23334253163212548,1.2447195986190884,0.71338606911949],"aabb_xy":[[-0.32334253396614454,1.1672372440339758],[-0.14334252929810642,1.322201953204201]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[0.2956670406912416,-1.4968629609024067,0.71338606911949],"aabb_xy":[[0.2862495661213789,-1.5062791380401257],[0.3050845152611044,-1.4874467837646876]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[-0.5974192814365776,-1.0534210042789107,0.71338606911949],"aabb_xy":[[-0.6260686137969936,-1.0820665635559863],[-0.5687699490761612,-1.0247754450018347]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[-0.3203361613421385,-2.347690660091303,0.71338606911949],"aabb_xy":[[-0.33117663956865334,-2.3648769413819517],[-0.30949568311562353,-2.3305043788006543]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_27","position":[0.1983764588672683,-1.1921254490891728,0.71338606911949],"aabb_xy":[[0.1343764624716952,-1.2560887375079062],[0.26237645526284137,-1.128162160670439]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_28","position":[0.05374730273613593,-1.912207638147801,0.71338606911949],"aabb_xy":[[0.04575381294085389,-1.920205770088277],[0.061740792531417954,-1.9042095062073259]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66476346237626,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/544.png","name":"544"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/544.png","name":"544"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2497.png","name":"2497"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9191.png","name":"9191"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3671.png","name":"3671"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7110.png","name":"7110"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":520.5654523393235,"rotation_z_degrees":198.85397879428143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011291495763254871,-0.007941994978686981,0.014679644706015519]},{"name":"camera_2","offset_m":[-0.004445577638821363,-0.0069750675680138804,-0.016805998769980297]},{"name":"camera_3","offset_m":[0.004568520633343738,-0.013146022471426856,-0.0028477256977948485]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00010971044564131276,0.001445525896531919,0.00012280050081741331],"end_effector_yaw_offset_degrees":0.42569581606350027},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015899307735806915,-0.0012359878350360809,-0.0012095248365025526],"end_effector_yaw_offset_degrees":-0.017511916358855517},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001261502936393084,-0.0014187525882782765,-0.0012757239021821026],"end_effector_yaw_offset_degrees":-0.3745164744779983}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002574666927708829,0.001346399936024768],"position_m":[0.20617466692770883,-0.04445360006397523,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029534605299901253,-0.0024307619306292595],"position_m":[0.23184653947000988,-0.3660307619306292,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000803359889931873,-0.0020984822939199353],"position_m":[0.1701033598899319,0.22800151770608007,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009075500356988632,-0.0015201904392927457],"position_m":[0.3328924499643011,0.11617980956070725,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea251324fcb9419ae09272b78ff7ed55f52caa78b3b8a71cbaeb148369e36885","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_544/tex_ceiling_textures_7110/tex_floor_textures_3671/tex_table_textures_2497/tex_wall_textures_9191","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8785848764023920768,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8785848764023920768,"visual_seed":8785848764023920768,"scene_id":"lab_003","finished_at":"2026-09-04T06:21:25"}
+{"episode_id":"ep_000004","started_at":"2026-09-04T06:21:29","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.5984639683191117,-1.159818628108764,0.71338606911949],"aabb_xy":[[0.5184639696622257,-1.1743234870330268],[0.6784639669759978,-1.1453137691845015]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.5833838338878626,1.7511298695253612,0.71338606911949],"aabb_xy":[[-0.6633838308509017,1.6740542278815878],[-0.5033838369248234,1.8282055111691347]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[-0.2549688433277009,0.9296397080619125,0.71338606911949],"aabb_xy":[[-0.30994256536403386,0.8746397084976794],[-0.1999951212913681,0.9846397076261457]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[0.4208806663763778,-1.542514027617532,0.71338606911949],"aabb_xy":[[0.4026748427151301,-1.5535394281995236],[0.43908649003762545,-1.5314886270355403]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[0.4171194547708956,-0.8769234338369061,0.71338606911949],"aabb_xy":[[0.3371194515068825,-0.8904834661458194],[0.49711945803490876,-0.8633634015279927]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[0.3990833140000347,-0.4287469384879756,0.71338606911949],"aabb_xy":[[0.39412729381515366,-0.4512469386900973],[0.404039334184916,-0.40624693828585406]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.42965997871878997,-1.2973739979978989,0.71338606911949],"aabb_xy":[[-0.4369422950954535,-1.3873740016074074],[-0.4223776623421262,-1.2073739943883894]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.5917891613982292,1.326022996431707,0.71338606911949],"aabb_xy":[[-0.6147048742832791,1.3031186992952837],[-0.5688734485131793,1.3489272935681307]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[-0.12802425745452484,-1.0320110317267126,0.71338606911949],"aabb_xy":[[-0.13989634046602595,-1.117011031420363],[-0.11615217444302373,-0.9470110320330622]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.6419197696446228,-2.4168335045375757,0.71338606911949],"aabb_xy":[[0.5779197692670893,-2.4665787713883884],[0.7059197700221566,-2.367088237686764]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[0.5211090583038096,-0.5413947285227096,0.71338606911949],"aabb_xy":[[0.48664658029072183,-0.5480584057056324],[0.5555715363168974,-0.5347310513397867]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.4588019305014839,0.3667447219210036,0.71338606911949],"aabb_xy":[[0.4089192336237877,0.31674472267472886],[0.5086846273791801,0.4167447211672784]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[0.6365014320226943,-0.092499070034608,0.71338606911949],"aabb_xy":[[0.5725014299729623,-0.13259355312391596],[0.7005014340724263,-0.052404586945300036]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.1571020896295091,-1.2001193995585848,0.71338606911949],"aabb_xy":[[0.14794221068563249,-1.2066506176021219],[0.16626196857338568,-1.1935881815150478]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.01480044205515696,-1.9083895404788238,0.71338606911949],"aabb_xy":[[-0.023602497364129667,-1.9162008666337527],[-0.005998386746184247,-1.9005782143238945]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[0.013938935398054242,-2.55699614456078,0.71338606911949],"aabb_xy":[[0.005724390282370259,-2.565672734858421],[0.022153480513738215,-2.5483195542631383]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.5430515805217595,-1.975072306720212,0.71338606911949],"aabb_xy":[[0.5382079857605295,-1.9799239591991964],[0.5478951752829895,-1.9702206542412282]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[0.3013341097416804,1.4867534223097647,0.71338606911949],"aabb_xy":[[0.2940903436954351,1.4067534241061623],[0.3085778757879257,1.566753420513367]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.353189422588464,0.29830343677311255,0.71338606911949],"aabb_xy":[[0.34506173439515075,0.28938982836240495],[0.3613171107817772,0.30721704518382026]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.05798853943196525,1.7497381417764983,0.71338606911949],"aabb_xy":[[-0.09257962228601047,1.6847381414914673],[-0.023397456577920032,1.8147381420615294]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.2774544527579639,-2.0033745200073705,0.71338606911949],"aabb_xy":[[-0.299919222729369,-2.025874520886231],[-0.25498968278655876,-1.98087451912851]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6689267826730737,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9226.png","name":"9226"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9226.png","name":"9226"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9857.png","name":"9857"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2163.png","name":"2163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9941.png","name":"9941"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4052.png","name":"4052"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":726.869509478268,"rotation_z_degrees":180.01698949031712,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010949928241774324,0.012520225350856066,-0.002569050563364844]},{"name":"camera_2","offset_m":[0.0009458149077186395,-0.008507074119030183,-0.002962025234242622]},{"name":"camera_3","offset_m":[0.013866378087843152,0.016309171812453668,-0.018458273146444656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00109746496759326,-0.0018951790943939183,0.0017478209530907328],"end_effector_yaw_offset_degrees":0.7087235691806382},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017955824655132408,0.0008309748547782082,0.0014552203868239207],"end_effector_yaw_offset_degrees":-0.35837280384996384},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00019101890399655583,-0.0018973727817385715,0.0005360996340853493],"end_effector_yaw_offset_degrees":0.08379387635040159}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002054402639273679,-0.001472096261404451],"position_m":[0.20154559736072633,-0.04727209626140445,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00034480664243002977,-0.004991495110156643],"position_m":[0.23514480664243004,-0.3685914951101566,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007680808817845082,-0.0018775497554200018],"position_m":[0.17006808088178452,0.22822245024458,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000644458556469176,-0.0022444159457428283],"position_m":[0.3331555414435308,0.11545558405425717,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aff20a2156caf6f45520f1cb6e9a23ac1092c0fd05b282b552ee0301f34dd6cc","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9226/tex_ceiling_textures_4052/tex_floor_textures_9941/tex_table_textures_9857/tex_wall_textures_2163","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6090710770695988675,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6090710770695988675,"visual_seed":6090710770695988675,"scene_id":"lab_003","finished_at":"2026-09-04T06:24:42"}
+{"episode_id":"ep_000005","started_at":"2026-09-04T06:24:47","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.019712903210736155,0.9523800714922022,0.71338606911949],"aabb_xy":[[-0.04425911883348688,0.9221311749431651],[0.004833312412014563,0.9826289680412392]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[-0.1560140354636642,0.6786300992079299,0.71338606911949],"aabb_xy":[[-0.22001403475783246,0.6146439588390757],[-0.09201403616949602,0.7426162395767841]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.5105020433453418,0.2721417036767879,0.71338606911949],"aabb_xy":[[0.5023883886719646,0.26403588722275884],[0.5186156980187188,0.280247520130817]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[-0.19460314014583657,-1.2389796726441196,0.71338606911949],"aabb_xy":[[-0.19944673490706655,-1.2438313251231037],[-0.1897595453846066,-1.2341280201651355]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.42265820049722536,-1.5490531059087727,0.71338606911949],"aabb_xy":[[-0.459508748434213,-1.5865531067318062],[-0.3858076525602378,-1.5115531050857387]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[-0.5402222957419929,0.9520567954301042,0.71338606911949],"aabb_xy":[[-0.6302222922428646,0.9061451530116459],[-0.45022229924112117,0.9979684378485624]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.17675630248133434,-0.8054959937287904,0.71338606911949],"aabb_xy":[[-0.20175630241385223,-0.8123786619497138],[-0.15175630254881645,-0.7986133255078671]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[0.15511319109751853,1.6900572055317062,0.71338606911949],"aabb_xy":[[0.13995031812058145,1.6748917482365877],[0.1702760640744556,1.7052226628268252]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[0.6233073246558096,-0.1375712980477739,0.71338606911949],"aabb_xy":[[0.6106805373686132,-0.14711737174934678],[0.6359341119430059,-0.12802522434620098]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[0.40137758773322263,-2.494645675768686,0.71338606911949],"aabb_xy":[[0.36789842047218174,-2.5281247891397935],[0.43485675499426363,-2.4611665623975796]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.22944489773858512,-2.498168313690089,0.71338606911949],"aabb_xy":[[-0.29444489629565795,-2.527920847103972],[-0.16444489918151228,-2.4684157802762066]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[0.26447705877210015,-0.6214900067342735,0.71338606911949],"aabb_xy":[[0.17447705509518194,-0.6829224133113776],[0.3544770624490183,-0.5600576001571689]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.4246522883463998,0.14288131161676532,0.71338606911949],"aabb_xy":[[-0.431896054392645,0.06288131341316294],[-0.41740852230015435,0.2228813098203677]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.5154924757962733,-1.6818046631345847,0.71338606911949],"aabb_xy":[[0.49299247598237084,-1.6862792795050654],[0.5379924756101756,-1.677330046764104]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[0.11665821914757313,1.5335404267308674,0.71338606911949],"aabb_xy":[[0.08419651826564564,1.5034075946159644],[0.14911992002950053,1.5636732588457696]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[-0.21918853395302107,0.209704849833515,0.71338606911949],"aabb_xy":[[-0.254188532223141,0.20263072213852684],[-0.18418853568290114,0.21677897752850317]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[-0.5942572946589209,-0.05555623814312094,0.71338606911949],"aabb_xy":[[-0.6413866736607564,-0.11955623918752288],[-0.5471279156570851,0.00844376290128103]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.6699182055749178,-0.8336394710896555,0.71338606911949],"aabb_xy":[[0.6625057500335293,-0.8394906815112835],[0.6773306611163062,-0.8277882606680276]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[0.10584083259973909,-0.8488299084180029,0.71338606911949],"aabb_xy":[[0.07084083124825734,-0.8691896443748237],[0.1408408339512208,-0.828470172461182]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.4354128462037399,-1.798954224790612,0.71338606911949],"aabb_xy":[[0.38553014932604374,-1.848954224036887],[0.48529554308143613,-1.7489542255443375]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[0.2591083418741088,-1.0010102989419654,0.71338606911949],"aabb_xy":[[0.2402239581055986,-1.0198962237223181],[0.277992725642619,-0.9821243741616126]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.602499218602919,-1.7415613750521237,0.71338606911949],"aabb_xy":[[-0.6118462261852142,-1.7558649972697677],[-0.5931522110206238,-1.7272577528344797]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_22","position":[0.17824133266548026,0.7335571214956138,0.71338606911949],"aabb_xy":[[0.13699252163556547,0.6785571219833962],[0.21949014369539493,0.7885571210078312]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[0.3187277892286169,0.3775205938533994,0.71338606911949],"aabb_xy":[[0.29883674934827664,0.3648647825687026],[0.33861882910895713,0.3901764051380963]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[0.05852972263208911,-0.639231603060731,0.71338606911949],"aabb_xy":[[0.046596988270261035,-0.6516137558685904],[0.07046245699391718,-0.6268494502528716]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_25","position":[-0.05157311699961642,-1.0467163225898146,0.71338606911949],"aabb_xy":[[-0.060866735236767,-1.0842163210779485],[-0.04227949876246584,-1.0092163241016807]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[0.1688810457181904,-1.0471612285652279,0.71338606911949],"aabb_xy":[[0.15177896775982228,-1.0642680340964976],[0.1859831236765586,-1.030054423033958]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_27","position":[-0.424547252931911,-0.28605039740583305,0.71338606911949],"aabb_xy":[[-0.43104888943991565,-0.29581821943214287],[-0.4180456164239064,-0.27628257537952333]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_28","position":[-0.11193370610668907,1.1235828017789085,0.71338606911949],"aabb_xy":[[-0.16192681821588098,1.073582801104713],[-0.0619405939974972,1.1735828024531043]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_29","position":[0.36539239212428654,1.6855397577458873,0.71338606911949],"aabb_xy":[[0.2853923935369671,1.6062241558077264],[0.44539239071160597,1.7648553596840482]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_30","position":[-0.2752374097393508,-0.6257564660623955,0.71338606911949],"aabb_xy":[[-0.3174218239001816,-0.6897564663396067],[-0.2330529955785201,-0.5617564657851843]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_31","position":[-0.2715922100228726,1.069786338536224,0.71338606911949],"aabb_xy":[[-0.3355879074179692,1.0057863402355152],[-0.207596512627776,1.1337863368369325]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_32","position":[-0.592079436342876,0.25721656823187544,0.71338606911949],"aabb_xy":[[-0.5955201125829331,0.253355135257511],[-0.5886387601028188,0.26107800120624]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666579762802903,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6253.png","name":"6253"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6253.png","name":"6253"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4923.png","name":"4923"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3228.png","name":"3228"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9184.png","name":"9184"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1886.png","name":"1886"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":714.8156914652602,"rotation_z_degrees":351.4404116655013,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009494773230626623,-0.009199040077012662,-0.008453032788540234]},{"name":"camera_2","offset_m":[0.00513541422448259,-0.013285176809463742,-0.016020787614331157]},{"name":"camera_3","offset_m":[0.01713146422153589,-0.012443180771669544,0.017378305549623708]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010884758340065788,-0.0017196578278316534,0.0008644357596241598],"end_effector_yaw_offset_degrees":0.3866438872256879},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009381185135403842,0.0017551468788883549,-0.0006800342803433145],"end_effector_yaw_offset_degrees":0.997266950172945},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015631217753178882,-0.0007704766720426023,-0.0006005412382200364],"end_effector_yaw_offset_degrees":0.7681180764226416}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0028510516739029402,0.0024330099438669827],"position_m":[0.20074894832609708,-0.043366990056133016,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0039388167456575725,0.0047068095168347574],"position_m":[0.23873881674565758,-0.3588931904831652,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003979010323130017,0.0032592357581764627],"position_m":[0.16532098967686998,0.23335923575817646,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004615586969798917,0.0021310559400155053],"position_m":[0.3384155869697989,0.1198310559400155,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"96f671a8cd9d78f16566765fe3c600aea8a7a4496b87a68a1a631c95e4ccb79c","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0005.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6253/tex_ceiling_textures_1886/tex_floor_textures_9184/tex_table_textures_4923/tex_wall_textures_3228","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4294727882496574822,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4294727882496574822,"visual_seed":4294727882496574822,"scene_id":"lab_003","finished_at":"2026-09-04T06:27:35"}
+{"episode_id":"ep_000006","started_at":"2026-09-04T06:27:39","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.49736188184543906,-0.7439212000381357,0.71338606911949],"aabb_xy":[[0.48773024562500944,-0.7535585128178446],[0.5069935180658687,-0.7342838872584267]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[-0.466856081361542,-1.141213029992935,0.71338606911949],"aabb_xy":[[-0.5318560839993355,-1.1926926286923822],[-0.4018560787237485,-1.0897334312934883]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[0.5660711166323198,-1.9566777781848317,0.71338606911949],"aabb_xy":[[0.5160711153484797,-2.006656632575454],[0.6160711179161596,-1.9066989237942096]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.02099837738878685,-0.9389262187958989,0.71338606911949],"aabb_xy":[[-0.029001622051408774,-0.9888941432802151],[0.07099837682898247,-0.8889582943115825]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.15619475373914826,1.4379343816107002,0.71338606911949],"aabb_xy":[[0.13864805882302936,1.400434380046449],[0.17374144865526722,1.4754343831749515]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.5808539928832481,1.5014361348526477,0.71338606911949],"aabb_xy":[[0.5699482167956853,1.4214361384538183],[0.5917597689708107,1.5814361312514766]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.05514355980175334,-1.741654349084675,0.71338606911949],"aabb_xy":[[-0.10511662533426883,-1.791654348897208],[-0.0051704942692378806,-1.6916543492721423]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.5370332571633563,-0.8260491453120722,0.71338606911949],"aabb_xy":[[-0.5457312194540717,-0.8381741196195471],[-0.5283352948726411,-0.8139241710045977]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[-0.3605586842786644,0.9684853284089887,0.71338606911949],"aabb_xy":[[-0.3980586843842573,0.9616631665560075],[-0.3230586841730714,0.9753074902619697]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[-0.11937862645608499,-0.5765943761300014,0.71338606911949],"aabb_xy":[[-0.12700289454626323,-0.5842275996665451],[-0.11175435836590676,-0.5689611525934577]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.0030370013504407156,-2.3655005845530117,0.71338606911949],"aabb_xy":[[-0.02090610910489621,-2.3793334925302227],[0.014832106404014778,-2.3516676765758007]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.1074502450304049,1.5616903480775215,0.71338606911949],"aabb_xy":[[0.07298789763226307,1.5271964656796984],[0.14191259242854665,1.5961842304753437]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.2473059423377284,1.5119409050407104,0.71338606911949],"aabb_xy":[[-0.33230594075515163,1.4270666095784255],[-0.16230594392030517,1.5968152005029954]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[0.5966094726018916,-1.3537095582820886,0.71338606911949],"aabb_xy":[[0.5591094741784911,-1.366873772249919],[0.6341094710252918,-1.3405453443142579]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[0.6236855757750555,-1.5177821373635618,0.71338606911949],"aabb_xy":[[0.5738687963102206,-1.567782135847865],[0.6735023552398901,-1.4677821388792582]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[-0.6409493507199255,0.21539351166598486,0.71338606911949],"aabb_xy":[[-0.6859419374383758,0.17039351239153608],[-0.595956764001475,0.2603935109404336]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.40229324623476775,1.1444618317565927,0.71338606911949],"aabb_xy":[[-0.4087948827427724,1.134694009730283],[-0.3957916097267632,1.1542296537829024]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[0.31717089876708404,0.8424839618175906,0.71338606911949],"aabb_xy":[[0.253170896546677,0.7981108776923023],[0.38117090098749107,0.8868570459428788]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.6344491814850042,-0.350292342632494,0.71338606911949],"aabb_xy":[[0.5994491832148842,-0.3573664703274821],[0.669449179755124,-0.34321821493750576]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[-0.5639790463629963,-2.4169732648344726,0.71338606911949],"aabb_xy":[[-0.6191042519925871,-2.4769732662757593],[-0.5088538407334056,-2.356973263393185]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[0.17499452701841733,-1.6716889160949358,0.71338606911949],"aabb_xy":[[0.12501711015316372,-1.721688917584184],[0.2249719438836709,-1.621688914605687]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[-0.5132328133959917,0.5520770006547888,0.71338606911949],"aabb_xy":[[-0.5632328137565576,0.5020970134451858],[-0.4632328130354256,0.6020569878643917]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[-0.43541744366098795,-1.6233576434201336,0.71338606911949],"aabb_xy":[[-0.4388581199010451,-1.627219076394498],[-0.4319767674209308,-1.619496210445769]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[-0.24570840560109453,-2.1161352052747797,0.71338606911949],"aabb_xy":[[-0.2537023941787979,-2.12413528536987],[-0.2377144170233911,-2.1081351251796896]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.5144339585732027,1.069841875693815,0.71338606911949],"aabb_xy":[[0.4444339567644573,1.0484881069296277],[0.5844339603819482,1.0911956444580024]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_25","position":[-0.29520192868384443,-1.9270774526801722,0.71338606911949],"aabb_xy":[[-0.3592019289578227,-1.9771435528774601],[-0.23120192840986625,-1.8770113524828842]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[-0.5124556840528445,0.01768477816466074,0.71338606911949],"aabb_xy":[[-0.5276185570297817,0.0025193208695419825],[-0.4972928110759075,0.0328502354597795]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_27","position":[-0.2058200122242883,-1.1611124826127357,0.71338606911949],"aabb_xy":[[-0.2674107714482811,-1.2251124807217828],[-0.1442292530002955,-1.097112484503689]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[0.6368853512915582,0.5482254778437703,0.71338606911949],"aabb_xy":[[0.5568853510179512,0.4752759300180536],[0.7168853515651652,0.621175025669487]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_29","position":[0.3119770551749905,1.6801937849010051,0.71338606911949],"aabb_xy":[[0.2519770543141776,1.6287673548945185],[0.3719770560358032,1.7316202149074913]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_30","position":[0.6087280317966657,-0.8312296727032233,0.71338606911949],"aabb_xy":[[0.5587280304357785,-0.881207577278639],[0.6587280331575529,-0.7812517681278077]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_31","position":[-0.28947736642266886,1.7293021792304084,0.71338606911949],"aabb_xy":[[-0.3534773628182419,1.6653388908116749],[-0.22547737002709572,1.793265467649142]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_32","position":[-0.20479193704287973,-0.06923168923926015,0.71338606911949],"aabb_xy":[[-0.2422919377074584,-0.08491874723948233],[-0.167291936378301,-0.05354463123903796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6635937809039401,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5400.png","name":"5400"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5400.png","name":"5400"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7856.png","name":"7856"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8486.png","name":"8486"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7275.png","name":"7275"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5302.png","name":"5302"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":776.2040311107701,"rotation_z_degrees":7.026408028668518,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012977642934533948,-0.010039492612717119,0.013455161578278928]},{"name":"camera_2","offset_m":[0.004982350449388152,0.013426411715370446,-0.0031522889638040848]},{"name":"camera_3","offset_m":[0.010775307388222112,-0.015319309633065999,-0.0014269064426287274]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00010804819285160959,0.001353871121273948,0.001734374706290117],"end_effector_yaw_offset_degrees":-0.9709950635166871},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013888660165180303,0.0006652470933143878,-0.0016025299961728119],"end_effector_yaw_offset_degrees":0.6994661405060463},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019498714277604986,-0.0011182266680949677,-0.0005248574631930008],"end_effector_yaw_offset_degrees":-0.5010694989313709}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00417188969286848,-0.002859810513763439],"position_m":[0.20777188969286847,-0.04865981051376344,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003368271856353964,0.0037194421703775097],"position_m":[0.2344631728143646,-0.35988055782962247,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016990999094914816,0.0037072315817905143],"position_m":[0.16760090009050851,0.2338072315817905,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006258848999080224,0.003489084969446371],"position_m":[0.334425884899908,0.12118908496944637,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"09bb48dd5cfa5469cdec7fe94764899f6c04db55e7352f71222db339e53c754e","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5400/tex_ceiling_textures_5302/tex_floor_textures_7275/tex_table_textures_7856/tex_wall_textures_8486","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7074383126886482415,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7074383126886482415,"visual_seed":7074383126886482415,"scene_id":"lab_003","finished_at":"2026-09-04T06:30:30"}
+{"episode_id":"ep_000007","started_at":"2026-09-04T06:30:33","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.239345905111718,-0.7442273670101525,0.71338606911949],"aabb_xy":[[-0.27380825250985974,-0.7787212494079749],[-0.2048835577135762,-0.7097334846123295]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[0.5437611846023154,-0.876508970538995,0.71338606911949],"aabb_xy":[[0.5291177790482823,-0.8911676901957792],[0.5584045901563482,-0.8618502508822108]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.29375512357933636,0.7757861415409057,0.71338606911949],"aabb_xy":[[-0.31875512313107485,0.7656436576757709],[-0.2687551240275979,0.7859286254060404]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[0.1740371334157741,-1.7620816538788562,0.71338606911949],"aabb_xy":[[0.1100371313660421,-1.8021761369681641],[0.2380371354655061,-1.7219871707895482]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[0.08440467362175275,-2.3624513603143096,0.71338606911949],"aabb_xy":[[0.05010776260401211,-2.3967482465242504],[0.11870158463949336,-2.328154474104368]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[0.6780817099012331,-1.7563733113894955,0.71338606911949],"aabb_xy":[[0.6480900471673626,-1.786373310726296],[0.7080733726351033,-1.726373312052695]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.3224666669709553,0.4899215182614336,0.71338606911949],"aabb_xy":[[-0.3400449691599022,0.47234702868732875],[-0.3048883647820085,0.5074960078355386]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[0.35065323057107856,1.305914134704791,0.71338606911949],"aabb_xy":[[0.34252554237776534,1.2970005262940831],[0.3587809187643918,1.3148277431154987]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[0.5195838540040225,1.5417584211907003,0.71338606911949],"aabb_xy":[[0.43958385541670314,1.4624428192525394],[0.599583852591342,1.6210740231288612]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[-0.11361561273648657,0.6771938676392666,0.71338606911949],"aabb_xy":[[-0.1636156140203265,0.6272150132486444],[-0.06361561145264659,0.7271727220298886]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[-0.4397151734816142,-0.8588411851044,0.71338606911949],"aabb_xy":[[-0.45960621336195456,-0.8714969963890971],[-0.4198241336012741,-0.8461853738197034]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.579023296797408,-0.10108697436454772,0.71338606911949],"aabb_xy":[[0.5620131995073573,-0.11722146286282165],[0.5960333940874586,-0.0849524858662738]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.5630266552694432,-1.7287439645934652,0.71338606911949],"aabb_xy":[[0.5526150965889594,-1.7340896979293634],[0.5734382139499268,-1.7233982312575666]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.26982641674739033,-0.18212153721313573,0.71338606911949],"aabb_xy":[[-0.3348264177478909,-0.23290790236781067],[-0.20482641574688987,-0.1313351720584608]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[0.6499868488160809,0.33411388915240625,0.71338606911949],"aabb_xy":[[0.6458509924833807,0.29661388970804925],[0.6541227051487811,0.37161388859676325]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.2727029458361571,1.574867146471679,0.71338606911949],"aabb_xy":[[-0.35270294630637306,1.566556438857331],[-0.19270294536594118,1.5831778540860275]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.44594153635528055,0.8597055802996221,0.71338606911949],"aabb_xy":[[0.4379480465599986,0.8517074483591467],[0.45393502615056264,0.8677037122400979]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.2575059338813275,1.1427747385018545,0.71338606911949],"aabb_xy":[[0.23500593435762,1.1202787910512335],[0.28000593340503477,1.165270685952475]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[0.5911069551843484,-2.4506386449096227,0.71338606911949],"aabb_xy":[[0.57343132459575,-2.468318861189025],[0.6087825857729466,-2.4329584286302195]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.34893322345667493,1.393226921908052,0.71338606911949],"aabb_xy":[[-0.3989120319669909,1.343226921902333],[-0.2989544149463591,1.4432269219137706]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.4637419579680331,0.36324386353446103,0.71338606911949],"aabb_xy":[[0.4385211211081934,0.3380201126815742],[0.48896279482787275,0.3884676143873477]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[-0.47416987541040734,1.3072103877393326,0.71338606911949],"aabb_xy":[[-0.49023180286892487,1.2222103859267406],[-0.4581079479518896,1.3922103895519242]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[-0.15724850794439393,-0.2908795937080022,0.71338606911949],"aabb_xy":[[-0.16849356351501174,-0.3021213914320975],[-0.14600345237377607,-0.2796377959839069]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.4727302602729081,-1.6102463427792406,0.71338606911949],"aabb_xy":[[-0.48142822256362344,-1.6223713170867158],[-0.46403229798219287,-1.5981213684717663]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666043324312758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2305.png","name":"2305"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2305.png","name":"2305"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6285.png","name":"6285"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8601.png","name":"8601"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3227.png","name":"3227"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1213.png","name":"1213"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":718.6912198376791,"rotation_z_degrees":13.34923497711265,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017483258439017674,-0.006065214356350861,0.002403367538287342]},{"name":"camera_2","offset_m":[-0.016944725114450727,0.015520743931222342,0.004126705069292764]},{"name":"camera_3","offset_m":[-0.01214959887610184,-0.001294597614135841,0.005872169150455173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00099139630018687,0.0013543351281285997,0.00044330006155947734],"end_effector_yaw_offset_degrees":-0.5392286038928022},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00013759831413652631,-0.0018795412736277827,-0.0008936136565660805],"end_effector_yaw_offset_degrees":0.2402236569707179},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022872992591756397,0.001439351467028754,0.001052673528636331],"end_effector_yaw_offset_degrees":0.0038005730587509223}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001839501683956274,0.0006551179525523011],"position_m":[0.20543950168395628,-0.045144882047447696,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006039961810598224,-0.0003623976003948636],"position_m":[0.23540399618105984,-0.36396239760039484,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005528104119115786,-0.0029795439803750857],"position_m":[0.16874718958808843,0.2271204560196249,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013803111052990602,0.000625865748651833],"position_m":[0.3324196888947009,0.11832586574865184,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f6f4dc0038530e0b9755afe3da0930d4b3bb37cbe19d3ff755ac23f858d636b9","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2305/tex_ceiling_textures_1213/tex_floor_textures_3227/tex_table_textures_6285/tex_wall_textures_8601","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":9196982292726164189,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":9196982292726164189,"visual_seed":9196982292726164189,"scene_id":"lab_003","finished_at":"2026-09-04T06:33:20"}
+{"episode_id":"ep_000008","started_at":"2026-09-04T06:33:23","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[0.5170958281749822,0.7031463271463068,0.71338606911949],"aabb_xy":[[0.5088812830592981,0.6944697368486652],[0.5253103732906661,0.7118229174439479]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_1","position":[-0.10277382332836726,1.1517137659678767,0.71338606911949],"aabb_xy":[[-0.1727738251371127,1.1303599972036893],[-0.03277382151962181,1.173067534732064]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.4851879597728048,-1.5281842654068014,0.71338606911949],"aabb_xy":[[0.4351879594122388,-1.5781642526164044],[0.5351879601333709,-1.4782042781971985]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_3","position":[0.6270483514424772,1.179590078954,0.71338606911949],"aabb_xy":[[0.5935691841814362,1.146110965582893],[0.6605275187035181,1.213069192325107]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.1272792402546874,-1.2543346382987104,0.71338606911949],"aabb_xy":[[-0.2172792396730583,-1.2877101351429],[-0.03727924083631651,-1.2209591414545204]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[-0.6576356042168029,-1.8727055145328544,0.71338606911949],"aabb_xy":[[-0.6900973050987302,-1.9028383466477568],[-0.6251739033348753,-1.8425726824179516]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.27019936868284633,0.7175852323809813,0.71338606911949],"aabb_xy":[[0.2101993684314451,0.6633039073445166],[0.33019936893424745,0.7718665574174459]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.22809379477129255,1.4041659071596015,0.71338606911949],"aabb_xy":[[0.21684873920067468,1.3929241094355063],[0.23933885034191035,1.4154077048836968]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[-0.5435487920024542,-1.5353138207019594,0.71338606911949],"aabb_xy":[[-0.5780112700155419,-1.5419774978848821],[-0.5090863139893663,-1.5286501435190363]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.2718765938136657,-1.987912963495361,0.71338606911949],"aabb_xy":[[0.20687659377936296,-2.034613640175688],[0.3368765938479684,-1.9412122868150334]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[-0.5411557861555549,1.7814608089160324,0.71338606911949],"aabb_xy":[[-0.5911400218637322,1.7314608101025368],[-0.4911715504473777,1.831460807729528]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.04968456764254359,-2.4975732496554546,0.71338606911949],"aabb_xy":[[-0.07218456788605898,-2.5097778843152265],[-0.0271845673990282,-2.4853686149956826]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.20959185262354707,-0.4922571056240348,0.71338606911949],"aabb_xy":[[-0.27359185584218493,-0.5389802175230431],[-0.1455918494049092,-0.4455339937250265]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.4638907646240443,0.11079637671184006,0.71338606911949],"aabb_xy":[[-0.5138907656431797,0.07433016097401214],[-0.4138907636049092,0.14726259244966802]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[0.6139593131520744,-0.17786149759582282,0.71338606911949],"aabb_xy":[[0.5499593139823045,-0.2246281847147853],[0.6779593123218444,-0.13109481047686034]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.4271403584169825,-1.3789183276946004,0.71338606911949],"aabb_xy":[[-0.4749465260307511,-1.4439183304016594],[-0.3793341908032138,-1.3139183249875415]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[0.48931209783784557,-1.2971008001873423,0.71338606911949],"aabb_xy":[[0.4518120966530527,-1.3015190228834026],[0.5268120990226383,-1.2926825774912816]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.5151239725657091,-0.31071276823384864,0.71338606911949],"aabb_xy":[[-0.564604393779668,-0.37471276614670046],[-0.4656435513517504,-0.2467127703209968]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[0.2725980747058969,-2.2330246910516633,0.71338606911949],"aabb_xy":[[0.20859807279355463,-2.288935840309674],[0.3365980766182393,-2.177113541793653]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[-0.6859340595228411,1.0819679385598286,0.71338606911949],"aabb_xy":[[-0.6935583276130195,1.074334715023285],[-0.678309791432663,1.0896011620963724]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[-0.41791518622388574,0.6654276890873527,0.71338606911949],"aabb_xy":[[-0.4220311363359583,0.6613121340545072],[-0.41379923611181296,0.6695432441201983]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.34265197828699123,-1.1787854547229477,0.71338606911949],"aabb_xy":[[0.3294210327523099,-1.192012873744947],[0.35588292382167247,-1.165558035700948]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[-0.06690047759933948,0.02682901120568504,0.71338606911949],"aabb_xy":[[-0.07086096136907385,0.01916114662016444],[-0.0629399938296051,0.03449687579120564]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6653529210919047,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7517.png","name":"7517"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7517.png","name":"7517"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/845.png","name":"845"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/119.png","name":"119"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9195.png","name":"9195"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5231.png","name":"5231"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":748.2443015788433,"rotation_z_degrees":191.12978394632665,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024490121941332828,-0.015602360194494173,0.014047871790534395]},{"name":"camera_2","offset_m":[-0.01648062182182955,-0.015516991637618122,-0.007907089839110646]},{"name":"camera_3","offset_m":[-0.01974442883303435,-0.004517982380305213,0.006754746768490909]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00018736368536224467,0.0003307853035428546,-0.0018002716113997028],"end_effector_yaw_offset_degrees":0.9055019324012217},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009373016600950786,0.0018065154622911518,0.0007066085389602402],"end_effector_yaw_offset_degrees":0.47974389239081394},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00044333492174298823,-0.00046996822679534755,-0.0015499479106472998],"end_effector_yaw_offset_degrees":0.43036090194333076}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00272225958238725,-0.002814996080998201],"position_m":[0.20087774041761275,-0.0486149960809982,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014931944689166032,-0.0012832930141301446],"position_m":[0.2333068055310834,-0.36488329301413014,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030623928016940303,0.000952600577162125],"position_m":[0.17236239280169405,0.23105260057716212,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038825213419923232,-0.004939752833628455],"position_m":[0.3299174786580077,0.11276024716637155,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eca5c91fd1b6c7ceb7d91c6ae2d3021ca0b98284be2b0a629e9b74d878444a49","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7517/tex_ceiling_textures_5231/tex_floor_textures_9195/tex_table_textures_845/tex_wall_textures_119","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5538721750469640233,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5538721750469640233,"visual_seed":5538721750469640233,"scene_id":"lab_003","finished_at":"2026-09-04T06:36:16"}
+{"episode_id":"ep_000009","started_at":"2026-09-04T06:36:19","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[0.050353760522308444,-1.3543722819807462,0.71338606911949],"aabb_xy":[[0.019955649423164853,-1.3847791839824155],[0.08075187162145202,-1.3239653799790765]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.2412861194828913,0.5734792907841353,0.71338606911949],"aabb_xy":[[-0.24928010806059464,0.5654792106890449],[-0.23329213090518786,0.5814793708792256]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[-0.33162132788839105,0.35410003196956286,0.71338606911949],"aabb_xy":[[-0.4116213293185182,0.2745828769569534],[-0.2516213264582638,0.43361718698217233]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.40416980090223026,-0.014567018836970647,0.71338606911949],"aabb_xy":[[-0.4208469368953257,-0.03126694281090092],[-0.3874926649091347,0.0021329051369596303]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.43093023316486667,-1.285200215692195,0.71338606911949],"aabb_xy":[[-0.4949302304672131,-1.3295666426600516],[-0.36693023586252027,-1.2408337887243381]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.3646066771732319,-1.3556391966982044,0.71338606911949],"aabb_xy":[[0.31478989770839716,-1.4056391951825078],[0.4144234566380667,-1.305639198213901]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.19728149174311344,-1.5230516794945435,0.71338606911949],"aabb_xy":[[-0.26128148885521907,-1.572084049288954],[-0.13328149463100772,-1.4740193097001328]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[-0.210793588250759,-2.1421879507096646,0.71338606911949],"aabb_xy":[[-0.26579358787250484,-2.1971716434971373],[-0.15579358862901319,-2.087204257922192]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.08514466571430523,0.3054217023863144,0.71338606911949],"aabb_xy":[[-0.12247594223954786,0.2707686475914621],[-0.04781338918906261,0.3400747571811667]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.5250967282250683,-0.2616113001216336,0.71338606911949],"aabb_xy":[[0.4951050654911978,-0.2916112994584341],[0.5550883909589385,-0.23161130078483305]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.32910496429602576,1.059688850495665,0.71338606911949],"aabb_xy":[[0.27910568912758965,1.0096888492197176],[0.379104239464462,1.109688851771612]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[0.18591939995882445,-2.0135069686180045,0.71338606911949],"aabb_xy":[[0.16091940002630656,-2.020389636838928],[0.21091939989134234,-2.006624300397081]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.1891972878067213,-0.6123046361577484,0.71338606911949],"aabb_xy":[[-0.19623759774025834,-0.69230463555742],[-0.18215697787318433,-0.5323046367580772]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.5111116362336294,1.0794913779455975,0.71338606911949],"aabb_xy":[[0.48819592334857964,1.056587080809174],[0.5340273491186794,1.102395675082021]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[0.12133700660029534,1.4610586488379096,0.71338606911949],"aabb_xy":[[0.10005899845682308,1.3960586465118363],[0.1426150147437676,1.5260586511639824]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.6788819328615874,-0.16333610644908214,0.71338606911949],"aabb_xy":[[0.6543683087645816,-0.18760069975111857],[0.7033955569585933,-0.13907151314704566]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.5675057184671441,-2.261562864765525,0.71338606911949],"aabb_xy":[[-0.585005717745231,-2.2789009648318714],[-0.5500057191890573,-2.2442247646991795]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.23426201520465995,-2.5121921320778617,0.71338606911949],"aabb_xy":[[-0.2892620134064048,-2.5527140987042993],[-0.1792620170029151,-2.471670165451424]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[0.257641518108646,0.7282620432212261,0.71338606911949],"aabb_xy":[[0.2026460402879866,0.6732620417873191],[0.3126369959293054,0.7832620446551329]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.23014902854558894,1.5147239176138334,0.71338606911949],"aabb_xy":[[0.22134697323661623,1.506912591458904],[0.23895108385456165,1.5225352437687623]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[0.5639817623880179,-2.0133677084857613,0.71338606911949],"aabb_xy":[[0.5520490280261898,-2.0257498612936207],[0.575914496749846,-2.000985555677902]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[-0.3336192897717522,0.990962058858603,0.71338606911949],"aabb_xy":[[-0.35611929001526765,0.978757424198831],[-0.31111928952823686,1.003166693518375]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[-0.5144628178469048,0.6888858413879797,0.71338606911949],"aabb_xy":[[-0.5260317985938414,0.663885841271048],[-0.5028938370999683,0.7138858415049114]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[-0.14354369563440128,-0.29084382675770826,0.71338606911949],"aabb_xy":[[-0.14750417940413565,-0.29851169134322886],[-0.1395832118646669,-0.28317596217218766]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[-0.40079643316913066,-1.9239404506604272,0.71338606911949],"aabb_xy":[[-0.4657964317262035,-1.9536929840743098],[-0.3357964346120578,-1.8941879172465446]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[0.5628299946263036,-0.6898593739821339,0.71338606911949],"aabb_xy":[[0.5509579116148023,-0.7748593736757843],[0.5747020776378046,-0.6048593742884836]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_26","position":[0.16219432009996015,-1.5011694801579913,0.71338606911949],"aabb_xy":[[0.15416804946933418,-1.5099209751353442],[0.17022059073058618,-1.492417985180639]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[-0.5736365676617794,-1.9216637026266024,0.71338606911949],"aabb_xy":[[-0.623631400589721,-1.971663701521846],[-0.5236417347338378,-1.8716637037313588]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_28","position":[-0.3721869049174268,-1.6282001820177072,0.71338606911949],"aabb_xy":[[-0.4199930725311954,-1.693200184724766],[-0.32438073730365813,-1.563200179310648]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_29","position":[0.6444846972008818,-2.0039018569308684,0.71338606911949],"aabb_xy":[[0.6206484795602768,-2.0939018577393553],[0.6683209148414869,-1.9139018561223824]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_30","position":[-0.6552159104091188,-1.1308685983597604,0.71338606911949],"aabb_xy":[[-0.6889914695998117,-1.1449070935729253],[-0.6214403512184258,-1.1168301031465955]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_31","position":[0.3665118410947932,-0.4699740312076113,0.71338606911949],"aabb_xy":[[0.3290118409229212,-0.5026747665905185],[0.40401184126666506,-0.43727329582470414]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_32","position":[-0.31303181713687206,1.1560079451913765,0.71338606911949],"aabb_xy":[[-0.34749416453501375,1.1215140627935534],[-0.27856946973873015,1.1905018275891988]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625019928828411,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8231.png","name":"8231"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8231.png","name":"8231"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5701.png","name":"5701"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7781.png","name":"7781"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/491.png","name":"491"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2053.png","name":"2053"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":634.8202340550235,"rotation_z_degrees":353.9927518519368,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008116367167514862,0.012025023334290546,0.0005156344595867099]},{"name":"camera_2","offset_m":[-0.01678909120615106,-0.00378149563032951,0.018742586821451263]},{"name":"camera_3","offset_m":[0.01730938749952941,0.013814984823932046,-0.017769572335018555]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00040444331690073546,2.2530549809457283e-05,0.0005227987460714998],"end_effector_yaw_offset_degrees":0.10297836082978207},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001078733030674505,-0.0013625037159696225,-0.0017488518852635062],"end_effector_yaw_offset_degrees":0.5723463152603885},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013843764344154885,-0.0004985256453349698,0.0018006295920957624],"end_effector_yaw_offset_degrees":-0.1059134418089871}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024952640188566156,-0.0005351659893224571],"position_m":[0.2011047359811434,-0.046335165989322455,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003237075449892114,0.001258051509368422],"position_m":[0.2315629245501079,-0.36234194849063156,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010676181901140402,-0.004167507433519022],"position_m":[0.16823238180988598,0.22593249256648099,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015780176752121476,-0.003307690942029663],"position_m":[0.33537801767521214,0.11439230905797033,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"44f977eeb13454d0cdf55c6b9ad740a39aa052f400c678486bc66694e5e02149","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8231/tex_ceiling_textures_2053/tex_floor_textures_491/tex_table_textures_5701/tex_wall_textures_7781","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4118907672554757308,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4118907672554757308,"visual_seed":4118907672554757308,"scene_id":"lab_003","finished_at":"2026-09-04T06:39:09"}
+{"episode_id":"ep_000010","started_at":"2026-09-04T06:39:12","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.41422333602004224,-2.3466811406222874,0.71338606911949],"aabb_xy":[[0.40544210887280613,-2.355460887910818],[0.4230045631672786,-2.3379013933337576]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[0.49286933376377484,1.4569394917075527,0.71338606911949],"aabb_xy":[[0.46903311612316995,1.3669394908990664],[0.5167055514043801,1.5469394925160396]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[-0.10069321904460327,-1.6117386846476862,0.71338606911949],"aabb_xy":[[-0.11126069870270226,-1.6222837147606948],[-0.09012573938650424,-1.6011936545346777]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.5542967179228195,-0.5121063674273238,0.71338606911949],"aabb_xy":[[0.5192967179463237,-0.5215709834749405],[0.5892967178993154,-0.5026417513797072]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[-0.06895566298931388,-2.05415744377136,0.71338606911949],"aabb_xy":[[-0.15895566158378382,-2.0704080300847814],[0.021044335605156048,-2.037906857457939]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.13897638031768977,-1.512377149241014,0.71338606911949],"aabb_xy":[[0.08900331478517433,-1.5623771490535474],[0.1889494458502053,-1.4623771494284814]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.6077462342521587,-2.0142161897019393,0.71338606911949],"aabb_xy":[[0.6005024682059134,-2.0942161879055416],[0.614990000298404,-1.934216191498337]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.545308347726867,-1.0588714811487323,0.71338606911949],"aabb_xy":[[0.5078083473786392,-1.0706628767298156],[0.5828083480750947,-1.0470800855676485]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[-0.6043455106321041,0.13102006104179287,0.71338606911949],"aabb_xy":[[-0.6493455120983329,0.08602020418031221],[-0.5593455091658752,0.17601991790327357]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.4597801823804193,1.2071003262290882,0.71338606911949],"aabb_xy":[[0.3700931060723038,1.1171003259746377],[0.5494672586885347,1.2971003264835388]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.5748055520803317,-1.6075353860717605,0.71338606911949],"aabb_xy":[[0.5699619573191017,-1.6123870385507448],[0.5796491468415617,-1.6026837335927766]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.48048344553717215,-0.9721187578303219,0.71338606911949],"aabb_xy":[[-0.5504834419471338,-0.9925566934820034],[-0.41048344912721024,-0.9516808221786399]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.5719395800550873,-1.8210636515031882,0.71338606911949],"aabb_xy":[[0.5344395798832153,-1.8537643868860956],[0.6094395802269592,-1.7883629161202812]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.2896269171091115,0.5183154314939227,0.71338606911949],"aabb_xy":[[-0.33461950382756184,0.4733154322194739],[-0.24463433039066101,0.5633154307683714]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.5946883045303701,0.3043513442219097,0.71338606911949],"aabb_xy":[[0.5246883027216247,0.2829975754577223],[0.6646883063391156,0.32570511298609706]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[0.31237495162659057,0.8754302109598942,0.71338606911949],"aabb_xy":[[0.2902024246499397,0.8532545438037709],[0.3345474786032414,0.8976058781160172]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[0.5112383872426773,-2.2473676622479557,0.71338606911949],"aabb_xy":[[0.47623838589119566,-2.2677273982047765],[0.5462383885941591,-2.227007926291135]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[0.5605171958628423,0.1391326030793243,0.71338606911949],"aabb_xy":[[0.4965171966930724,0.09236591596036182],[0.6245171950326123,0.18589929019828677]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.20599652480170416,0.23359583811117268,0.71338606911949],"aabb_xy":[[-0.2559965261625914,0.1836179335357571],[-0.15599652344081696,0.2835737426865883]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.6231846752734937,-1.2354647078434517,0.71338606911949],"aabb_xy":[[-0.6781583973098265,-1.290464707407685],[-0.5682109532371608,-1.1804647082792186]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.27704560239319703,-2.3989336114556594,0.71338606911949],"aabb_xy":[[-0.32702301925845056,-2.4489336129449075],[-0.22706818552794342,-2.3489336099664104]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_21","position":[0.47042662228631693,-1.9812244562125896,0.71338606911949],"aabb_xy":[[0.4639249857783124,-1.9909922782388996],[0.47692825879432166,-1.97145663418628]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[0.4892064399709579,-0.29143930961241793,0.71338606911949],"aabb_xy":[[0.4740342706893246,-0.3066081665406213],[0.5043786092525913,-0.2762704526842146]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[-0.2803726734466631,-0.4646239286831042,0.71338606911949],"aabb_xy":[[-0.30165068159013536,-0.5296239310091772],[-0.25909466530319086,-0.39962392635703103]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[0.37240588961757126,-1.4058062033349579,0.71338606911949],"aabb_xy":[[0.34785967399482054,-1.436055099883995],[0.396952105240322,-1.3755573067859208]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[0.667145170287262,1.1206710761208618,0.71338606911949],"aabb_xy":[[0.657389180778088,1.1109085420616274],[0.6769011597964357,1.1304336101800962]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_26","position":[0.6814096847637248,-0.08500690771120611,0.71338606911949],"aabb_xy":[[0.6760721090977203,-0.1100069086403459],[0.6867472604297294,-0.06000690678206633]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[0.663503986380203,-0.48529690551405835,0.71338606911949],"aabb_xy":[[0.6452981627189553,-0.49632230609605005],[0.6817098100414507,-0.47427150493206677]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[-0.5705954976887766,1.6269764585354962,0.71338606911949],"aabb_xy":[[-0.6080954981861348,1.6230077749873775],[-0.5330954971914184,1.6309451420836145]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_29","position":[0.5964550678593843,-0.5995296515420598,0.71338606911949],"aabb_xy":[[0.5639933669774567,-0.6296624836569623],[0.6289167687413116,-0.5693968194271571]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_30","position":[-0.2610719861288691,1.2988194262186936,0.71338606911949],"aabb_xy":[[-0.2719777622164318,1.2188194298198645],[-0.25016621004130635,1.3788194226175228]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_31","position":[-0.4823043582794492,0.8052525074528365,0.71338606911949],"aabb_xy":[[-0.4902978480747313,0.7972543755123611],[-0.47431086848416726,0.8132506393933123]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_32","position":[-0.5419825690278398,0.4851019887222314,0.71338606911949],"aabb_xy":[[-0.5458964422232624,0.47635297331567467],[-0.5380686958324172,0.4938510041287882]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_33","position":[-0.42586414157429237,-0.5563864116823334,0.71338606911949],"aabb_xy":[[-0.46863084845371256,-0.620386415104136],[-0.3830974346948722,-0.49238640826053104]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_34","position":[0.25309181841739814,-1.8825975398839399,0.71338606911949],"aabb_xy":[[0.2070067271626667,-1.946597537136495],[0.2991769096721296,-1.8185975426313847]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638343006123932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1731.png","name":"1731"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1731.png","name":"1731"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/929.png","name":"929"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6044.png","name":"6044"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6947.png","name":"6947"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/852.png","name":"852"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":848.3963248640728,"rotation_z_degrees":216.98978073876768,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006254802425658705,0.005514894584301912,-0.005483675869366995]},{"name":"camera_2","offset_m":[0.0009704530457203472,0.008373336889987312,-0.004973019885230325]},{"name":"camera_3","offset_m":[-0.004047250588213713,-0.004405852667523455,-0.009588339133513825]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012391242371255352,-7.12163151280656e-05,-0.0018344625192780182],"end_effector_yaw_offset_degrees":-0.7205021539309413},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007620140092253341,7.379453270019241e-05,0.0011238097873231207],"end_effector_yaw_offset_degrees":0.6629592063396235},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009133261484704507,-0.0005702797255909609,-0.0010499782146156595],"end_effector_yaw_offset_degrees":-0.18343401446089413}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003862283736056323,-0.0011527447246989053],"position_m":[0.20321377162639437,-0.0469527447246989,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00016895564076166176,0.00353601760238],"position_m":[0.23463104435923834,-0.36006398239762,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029960392305292327,0.004192585553834662],"position_m":[0.16630396076947077,0.23429258555383467,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010081432185117777,-0.0016458800182209033],"position_m":[0.33480814321851177,0.1160541199817791,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8f56acd0fbb58f560fe522ab9658794f360f9cdae19135a64e6161b53ae81d03","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1731/tex_ceiling_textures_852/tex_floor_textures_6947/tex_table_textures_929/tex_wall_textures_6044","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5345521293189929566,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5345521293189929566,"visual_seed":5345521293189929566,"scene_id":"lab_003","finished_at":"2026-09-04T06:42:06"}
+{"episode_id":"ep_000011","started_at":"2026-09-04T06:42:10","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.526700112496587,-1.7324787486970497,0.71338606911949],"aabb_xy":[[-0.606700109459626,-1.8095543903408229],[-0.4467001155335477,-1.655403107053276]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.3162587526458678,-2.4033604103363166,0.71338606911949],"aabb_xy":[[0.25225875073352555,-2.459271559594327],[0.38025875455821023,-2.347449261078306]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.6261371006733358,-1.958622579274396,0.71338606911949],"aabb_xy":[[-0.6355545752431985,-1.9680387564121151],[-0.616719626103473,-1.949206402136677]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[0.31685179894159754,1.6578400453184758,0.71338606911949],"aabb_xy":[[0.2818517997487792,1.6468729993208133],[0.35185179813441575,1.6688070913161384]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[0.5474503860183604,0.33768402535546027,0.71338606911949],"aabb_xy":[[0.4674503873614745,0.3231791664311975],[0.6274503846752465,0.35218888427972306]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.1713425635069924,-0.388529957006138,0.71338606911949],"aabb_xy":[[-0.22535815978889237,-0.4525299598983952],[-0.11732696722509237,-0.32452995411388086]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.6835446735665731,-2.3376172351813502,0.71338606911949],"aabb_xy":[[0.6762623571899092,-2.4276172387908583],[0.6908269899432365,-2.2476172315718403]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[0.3531251510174038,-0.9335203688271678,0.71338606911949],"aabb_xy":[[0.3031251499982686,-0.969986584564996],[0.4031251520365392,-0.8970541530893401]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[-0.3239005521688306,1.6060448215321608,0.71338606911949],"aabb_xy":[[-0.33114431821507595,1.5260448233285582],[-0.3166567861225853,1.686044819735763]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[-0.2893704465777516,-0.9496346773667246,0.71338606911949],"aabb_xy":[[-0.30926148645809187,-0.9622904886514216],[-0.2694794066974114,-0.936978866082028]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[-0.5972607958771399,-0.2359621859676011,0.71338606911949],"aabb_xy":[[-0.6197599316033668,-0.2584621867458641],[-0.5747616601509129,-0.21346218518933813]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[-0.5165752727728214,-1.3602921890525923,0.71338606911949],"aabb_xy":[[-0.5356875801308003,-1.3794269679298343],[-0.4974629654148426,-1.3411574101753503]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[0.16413364808702102,1.4163867840290512,0.71338606911949],"aabb_xy":[[0.08413364592425851,1.3364316004029075],[0.24413365024978348,1.4963419676551948]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[-0.508444611612133,-1.5646574285890955,0.71338606911949],"aabb_xy":[[-0.51614780228621,-1.5723667992878332],[-0.5007414209380558,-1.5569480578903574]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.48832120437900506,-0.43428062378702936,0.71338606911949],"aabb_xy":[[-0.5683212046526119,-0.5072301716127461],[-0.408321204105398,-0.36133107596131264]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.16017553348330982,-1.7357400098001652,0.71338606911949],"aabb_xy":[[-0.16721698443405744,-1.74276676153796],[-0.15313408253256225,-1.7287132580623708]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.5541672585108697,0.045296787720188636,0.71338606911949],"aabb_xy":[[-0.6041672580872045,-0.004683791231917311],[-0.5041672589345351,0.09527736667229458]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[-0.45437435025614037,1.3918327048687442,0.71338606911949],"aabb_xy":[[-0.4768880420795975,1.3218327042677365],[-0.4318606584326831,1.4618327054697515]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.187251917071377,-1.1304765231971434,0.71338606911949],"aabb_xy":[[-0.19985461620845346,-1.1430719194220091],[-0.17464921793430055,-1.1178811269722781]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[0.4880067338510141,-1.720836576251013,0.71338606911949],"aabb_xy":[[0.40300673543359083,-1.8057108717132981],[0.5730067322684373,-1.6359622807887282]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.17622022376687918,-0.8153110456589538,0.71338606911949],"aabb_xy":[[0.13872022225124744,-0.8265378186750989],[0.21372022528251086,-0.8040842726428088]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[-0.024263454028791598,0.9448194050298833,0.71338606911949],"aabb_xy":[[-0.10426345143238501,0.8648268338317006],[0.055736543374801814,1.024811976228066]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.5696402307598578,0.005207624052296911,0.71338606911949],"aabb_xy":[[0.49964022812327136,-0.01489724094356859],[0.639640233396444,0.025312489048162412]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[-0.057396059963071955,1.511867072701064,0.71338606911949],"aabb_xy":[[-0.07489606020812134,1.494367284861497],[-0.039896059718022577,1.5293668605406308]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658967807357978,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3250.png","name":"3250"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3250.png","name":"3250"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1652.png","name":"1652"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8533.png","name":"8533"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6718.png","name":"6718"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3392.png","name":"3392"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":770.4149321480089,"rotation_z_degrees":253.22137077065025,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0013231383524487453,-0.018809701667232344,-0.010859096412005843]},{"name":"camera_2","offset_m":[0.00718507776253113,-0.009755971445260863,-0.011456304624630508]},{"name":"camera_3","offset_m":[0.0192351739185574,0.0004605525886704903,-0.010256864926583717]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015533930010851044,-0.0008175593728136556,-0.0009111862242927441],"end_effector_yaw_offset_degrees":-0.5202032565526311},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019180876511906576,0.0008808011798667071,0.0015841766758012189],"end_effector_yaw_offset_degrees":-0.18254186704963815},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00010577444119345145,-0.00035720065995122996,8.423769666865595e-05],"end_effector_yaw_offset_degrees":-0.13907817014555146}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001178114991364043,-0.0018200726232584763],"position_m":[0.20242188500863595,-0.04762007262325848,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002467580288058786,-0.003751443522678156],"position_m":[0.2323324197119412,-0.3673514435226781,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005652842572068939,-0.003998549328615676],"position_m":[0.1698652842572069,0.22610145067138432,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00428671041602015,0.0021556076165141803],"position_m":[0.32951328958397985,0.11985560761651418,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4b53ca14f2e3a55cbdba0e988c459a7fb4c140c0dffcd6b321ac83c304595953","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3250/tex_ceiling_textures_3392/tex_floor_textures_6718/tex_table_textures_1652/tex_wall_textures_8533","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":768227304717730141,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":768227304717730141,"visual_seed":768227304717730141,"scene_id":"lab_003","finished_at":"2026-09-04T06:44:58"}
+{"episode_id":"ep_000012","started_at":"2026-09-04T06:45:02","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.5391445145375333,0.13053230652610326,0.71338606911949],"aabb_xy":[[-0.5499849927640482,0.11334602523545445],[-0.5283040363110184,0.14771858781675207]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.09008612691746243,1.031924305078395,0.71338606911949],"aabb_xy":[[0.03509387628195149,0.9769243033350825],[0.1450783775529734,1.086924306821708]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.2641646875908823,-0.6968783174321462,0.71338606911949],"aabb_xy":[[0.1941646854594527,-0.7196402830578417],[0.3341646897223118,-0.6741163518064504]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.16446900999520686,-2.131764841818879,0.71338606911949],"aabb_xy":[[-0.22605976921919968,-2.195764839927926],[-0.10287825077121404,-2.067764843709832]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.25293624911513457,-1.7207101997455427,0.71338606911949],"aabb_xy":[[0.2154362487669068,-1.732501595326626],[0.29043624946336233,-1.708918804164459]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.5983047541862023,-1.6544786598457688,0.71338606911949],"aabb_xy":[[0.5895235270389662,-1.6632584071342995],[0.6070859813334387,-1.645698912557239]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.3825067636666475,-1.446975127478814,0.71338606911949],"aabb_xy":[[0.3785928904712249,-1.4557241428853707],[0.38642063686206995,-1.438226112072257]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.31140236845984287,-1.4066935147810369,0.71338606911949],"aabb_xy":[[-0.3914023706226053,-1.4866486984071805],[-0.23140236629708033,-1.3267383311548933]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[-0.5515947086117154,-2.4033483522877344,0.71338606911949],"aabb_xy":[[-0.6315947090819314,-2.4116590599020826],[-0.4715947081414995,-2.395037644673386]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.6071868087582916,-0.4294206956962636,0.71338606911949],"aabb_xy":[[-0.6296868092703322,-0.45191255406166186],[-0.584686808246251,-0.40692883733086516]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.17132688279435848,-2.2776372122652657,0.71338606911949],"aabb_xy":[[0.13382688262248654,-2.310337947648173],[0.20882688296623042,-2.2449364768823585]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.5054353692020216,0.5608568128492339,0.71338606911949],"aabb_xy":[[-0.5397516463766395,0.5108568128760562],[-0.47111909202740365,0.6108568128224117]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[0.17730191391494643,0.6490263792643947,0.71338606911949],"aabb_xy":[[0.1273019144747508,0.5990584547800784],[0.22730191335514205,0.698994303748711]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[0.5017179582227242,-0.7219088294194111,0.71338606911949],"aabb_xy":[[0.4317179548311622,-0.7572246031228419],[0.5717179616142861,-0.6865930557159802]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[0.23323953198162295,1.3191396922979344,0.71338606911949],"aabb_xy":[[0.1682395334245501,1.2893871588840518],[0.2982395305386958,1.348892225711817]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[0.4059925121710397,-2.2289717875328128,0.71338606911949],"aabb_xy":[[0.36099992545258924,-2.273971786807261],[0.45098509888949007,-2.1839717882583636]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[-0.5203004564164113,-1.698254132052751,0.71338606911949],"aabb_xy":[[-0.6103004587504304,-1.7757364866378638],[-0.43030045408239226,-1.6207717774676385]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.564949383729666,1.2888769891560496,0.71338606911949],"aabb_xy":[[0.4799493850375913,1.2568911257611708],[0.6499493824217406,1.3208628525509285]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[0.2363022322478885,-1.1067843568676505,0.71338606911949],"aabb_xy":[[0.1563022352336405,-1.1269189085410618],[0.31630222926213647,-1.0866498051942393]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.5081468950184127,-0.07733830455021673,0.71338606911949],"aabb_xy":[[0.4856468950082644,-0.09143452418982001],[0.530646895028561,-0.06324208491061345]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_20","position":[-0.5488659222287848,-2.196952900191465,0.71338606911949],"aabb_xy":[[-0.5649278496873025,-2.2819529020040563],[-0.5328039947702672,-2.1119528983788727]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[-0.4500212736507687,-0.9679409207347425,0.71338606911949],"aabb_xy":[[-0.5350212720681919,-1.0528152161970274],[-0.36502127523334554,-0.8830666252724575]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[-0.4590128182443708,0.7237211695516761,0.71338606911949],"aabb_xy":[[-0.47644353332337724,0.7064490548878252],[-0.4415821031653642,0.7409932842155268]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[-0.06652472851339974,0.18115522360606606,0.71338606911949],"aabb_xy":[[-0.12151793985053651,0.12615522326727246],[-0.011531517176262983,0.2361552239448597]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[-0.6038413084922357,-0.9516402002399118,0.71338606911949],"aabb_xy":[[-0.6092992541292558,-1.0316402035475707],[-0.5983833628552157,-0.8716401969322526]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_25","position":[0.06508199616651267,-2.2823259563303084,0.71338606911949],"aabb_xy":[[0.047503693977565806,-2.299900445904413],[0.0826602983554595,-2.264751466756203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686046621322773,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2969.png","name":"2969"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2969.png","name":"2969"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8612.png","name":"8612"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2594.png","name":"2594"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9722.png","name":"9722"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7196.png","name":"7196"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":710.2968479467659,"rotation_z_degrees":7.72167097461621,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01081306024397135,-0.010353910448900829,0.016214866127651353]},{"name":"camera_2","offset_m":[-0.011075155569581004,0.018301355959414397,-0.010213394613720768]},{"name":"camera_3","offset_m":[-0.009617431229202476,-0.013723420822840615,0.016272771952443674]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00022522253833632145,-0.0011837596890580445,0.0009052664380538849],"end_effector_yaw_offset_degrees":-0.5244018661561136},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017939981230295232,-0.0018505549174678189,-0.0013368173537265556],"end_effector_yaw_offset_degrees":-0.3489582711372965},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000824086645605274,0.0005787428606867473,0.0008574530240730593],"end_effector_yaw_offset_degrees":0.1433225952058832}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001378975375097651,-0.0002934708708942687],"position_m":[0.20222102462490235,-0.04609347087089427,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004332743184593428,0.0017148817747910236],"position_m":[0.23913274318459343,-0.36188511822520897,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016596428032982476,-0.003269368447280211],"position_m":[0.17095964280329826,0.2268306315527198,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00240415723889047,-0.0047706689586159805],"position_m":[0.3313958427611095,0.11292933104138402,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c2ddc97cc2f86829a515d18f01ccffb7da3f4217e03d45eb0821a42c53675e16","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2969/tex_ceiling_textures_7196/tex_floor_textures_9722/tex_table_textures_8612/tex_wall_textures_2594","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1893592530851417310,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1893592530851417310,"visual_seed":1893592530851417310,"scene_id":"lab_003","finished_at":"2026-09-04T06:47:48"}
+{"episode_id":"ep_000013","started_at":"2026-09-04T06:47:51","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[0.08068971490316623,-1.8768989953904418,0.71338606911949],"aabb_xy":[[0.016689717617517585,-1.918405714343286],[0.14468971218881488,-1.835392276437598]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.563007262581374,-0.6246898223179829,0.71338606911949],"aabb_xy":[[0.5525957039008902,-0.6300355556538813],[0.5734188212618576,-0.6193440889820843]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.03133648168600378,-1.7568968708280313,0.71338606911949],"aabb_xy":[[-0.03529696545573816,-1.7645647354135519],[-0.027375997916269414,-1.7492290062425107]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[0.11317295117686932,-1.3521936258301657,0.71338606911949],"aabb_xy":[[0.07567295067951108,-1.3561623093782842],[0.15067295167422756,-1.3482249422820471]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[-0.38233437418459343,-2.2504632388153065,0.71338606911949],"aabb_xy":[[-0.4073343734565557,-2.2668086024114684],[-0.35733437491263115,-2.2341178752191437]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.22704702292444856,-1.3952308663169521,0.71338606911949],"aabb_xy":[[-0.23891910593594967,-1.4802308660106025],[-0.21517493991294745,-1.3102308666233018]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.4081218200419541,1.3543226662265822,0.71338606911949],"aabb_xy":[[-0.45311440676040443,1.3093226669521334],[-0.3631292333235036,1.399322665501031]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[0.05620755523029697,-1.00104361708827,0.71338606911949],"aabb_xy":[[-0.013792446371982514,-1.0144764102899275],[0.12620755683257645,-0.9876108238866124]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[-0.444791105072326,-1.0849723952238413,0.71338606911949],"aabb_xy":[[-0.5087911053463042,-1.135038495421129],[-0.38079110479834777,-1.034906295026553]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.16610436642957271,-0.9051830148021802,0.71338606911949],"aabb_xy":[[0.09610436379298634,-0.9252878797980455],[0.23610436906615903,-0.8850781498063145]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[0.0809015823406467,0.9012208954826662,0.71338606911949],"aabb_xy":[[0.04340158167606798,0.885533837482444],[0.11840158300522538,0.9169079534828883]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.22209468074851402,-2.419293356158142,0.71338606911949],"aabb_xy":[[0.21612814180777823,-2.425254500817506],[0.2280612196892498,-2.4133322114987776]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[-0.5296430265426366,-2.5770093159808773,0.71338606911949],"aabb_xy":[[-0.5671430277274293,-2.5814275386769374],[-0.49214302535784377,-2.5725910932848164]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.4739726723167139,-1.563827618041642,0.71338606911949],"aabb_xy":[[-0.5339726725681151,-1.6181089430781062],[-0.41397267206531274,-1.5095462930051768]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[-0.22194702065602784,0.19492677942991765,0.71338606911949],"aabb_xy":[[-0.2859470170516009,0.13096349101118412],[-0.15794702426045476,0.2588900678486512]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[0.6466895920754794,-0.008110944352244243,0.71338606911949],"aabb_xy":[[0.6412316464384593,-0.08811094765990335],[0.6521475377124994,0.07188905895541486]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[0.643292613854106,1.36402035413782,0.71338606911949],"aabb_xy":[[0.5732926117226764,1.3412583885121239],[0.7132926159855355,1.3867823197635152]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.3719279634507362,1.064502957068918,0.71338606911949],"aabb_xy":[[-0.4519279608543295,0.984510385870735],[-0.29192796604714266,1.1444955282671005]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[0.30829906045537814,1.4288975340888128,0.71338606911949],"aabb_xy":[[0.25830594834618625,1.3788975334146172],[0.35829217256457,1.4788975347630084]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[0.22856044972704803,-2.1439291667230727,0.71338606911949],"aabb_xy":[[0.21921344214475283,-2.1582327889407167],[0.2379074573093433,-2.1296255445054286]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.37808618733914656,-0.7431951105201453,0.71338606911949],"aabb_xy":[[0.29436396183906416,-0.8331951140548413],[0.4618084128392291,-0.6531951069854494]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.5243546072061118,0.06733492284732101,0.71338606911949],"aabb_xy":[[-0.5859453664301046,0.0033349247382741254],[-0.462763847982119,0.1313349209563679]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[-0.03016795888753243,0.2590517270084618,0.71338606911949],"aabb_xy":[[-0.03658177253071736,0.2526419067607934],[-0.023754145244347484,0.2654615472561301]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[0.6220337695495588,0.2003819852607469,0.71338606911949],"aabb_xy":[[0.5580337722472123,0.15601555829289016],[0.6860337668519051,0.24474841222860366]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[0.03525024298633572,-1.6378139816693582,0.71338606911949],"aabb_xy":[[-0.009921074861833247,-1.7018139788138968],[0.0804215608345047,-1.57381398452482]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[-0.5912074602462537,-2.0905468524309576,0.71338606911949],"aabb_xy":[[-0.6008390964666833,-2.100184165210666],[-0.5815758240258241,-2.0809095396512483]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[-0.15715348751742175,-0.8691260044857045,0.71338606911949],"aabb_xy":[[-0.19992019439684194,-0.9331260079075071],[-0.11438678063800156,-0.8051260010639022]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.5509956411143935,-2.225733360239537,0.71338606911949],"aabb_xy":[[0.5159956412183746,-2.234107595751477],[0.5859956410104123,-2.2173591247275968]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6660628632620161,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4989.png","name":"4989"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4989.png","name":"4989"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6833.png","name":"6833"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9925.png","name":"9925"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4526.png","name":"4526"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6214.png","name":"6214"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":749.3704295068393,"rotation_z_degrees":76.45438080504057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001738093441737254,-0.004679258525268409,0.00522967966913639]},{"name":"camera_2","offset_m":[0.013403903923345752,0.016574766496068875,0.015634368183691436]},{"name":"camera_3","offset_m":[0.00713878163988977,-0.003763845978579195,-0.014238657535903886]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001649950710544491,0.0009980639076437102,-0.0016190355865762793],"end_effector_yaw_offset_degrees":-0.1039377727309605},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014807691893637146,0.0012704925949656716,0.001369653028177745],"end_effector_yaw_offset_degrees":-0.5677975694661492},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009276576464902907,-0.0011365626014899766,1.746399891557277e-05],"end_effector_yaw_offset_degrees":0.1395800820042874}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010135858944433718,-0.003176981273972578],"position_m":[0.20461358589444337,-0.04897698127397258,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023522454165084902,0.0033343397565047004],"position_m":[0.2371522454165085,-0.36026566024349527,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009754437491509569,0.0039386537934447225],"position_m":[0.17027544374915096,0.2340386537934447,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019223895212524258,0.004067708829932554],"position_m":[0.3357223895212524,0.12176770882993256,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"972f4ded78f727878bb2027156d30e9b9df8063e6cc75fa874cc237fbf5b3a81","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0013.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4989/tex_ceiling_textures_6214/tex_floor_textures_4526/tex_table_textures_6833/tex_wall_textures_9925","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1663755478570347734,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1663755478570347734,"visual_seed":1663755478570347734,"scene_id":"lab_003","finished_at":"2026-09-04T06:50:36"}
+{"episode_id":"ep_000014","started_at":"2026-09-04T06:50:40","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.5612688184488155,-0.012757899571399722,0.71338606911949],"aabb_xy":[[-0.5683102693995632,-0.019784651309194268],[-0.554227367498068,-0.005731147833605177]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[0.566684459941651,0.8113124385911714,0.71338606911949],"aabb_xy":[[0.5166844595810848,0.7613324513815684],[0.6166844603022169,0.8612924258007743]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.45809291329001023,-0.6374754215973373,0.71338606911949],"aabb_xy":[[-0.4700256476518383,-0.6498575744051966],[-0.44616017892818216,-0.6250932687894779]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.6184570484376811,-2.4809836684198396,0.71338606911949],"aabb_xy":[[-0.6434570476033142,-2.487935914125196],[-0.593457049272048,-2.474031422714483]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.17995258739556186,-0.7556120623768641,0.71338606911949],"aabb_xy":[[0.17191625269427702,-0.7636501816812808],[0.1879889220968467,-0.7475739430724473]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[0.47236940845587205,-0.6598803250330325,0.71338606911949],"aabb_xy":[[0.4023694063244425,-0.6826422906587281],[0.5423694105873016,-0.6371183594073367]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[-0.09862483946477796,-1.902346648677249,0.71338606911949],"aabb_xy":[[-0.17861866304333618,-1.9823466512700905],[-0.018631015886219737,-1.8223466460844073]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.5838777872540727,-1.1415025177232831,0.71338606911949],"aabb_xy":[[-0.6338777868304075,-1.1914830966753893],[-0.5338777876777381,-1.0915219387711774]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.2111862312695042,0.6009522160456062,0.71338606911949],"aabb_xy":[[0.14118622946075873,0.5795984472814188],[0.28118623307824964,0.6223059848097936]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[-0.6403704954472224,0.3405315004007794,0.71338606911949],"aabb_xy":[[-0.6505235110013716,0.304461958828039],[-0.6302174798930729,0.3766010419735196]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[-0.2877673126079311,-1.5507504722660426,0.71338606911949],"aabb_xy":[[-0.29648128165786547,-1.5732504729252303],[-0.2790533435579965,-1.528250471606854]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.6752820379815185,-1.7811680618488996,0.71338606911949],"aabb_xy":[[0.6577820377364691,-1.7986678496884665],[0.6927820382265679,-1.7636682740093328]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[0.43454862014332485,-0.8642413160036573,0.71338606911949],"aabb_xy":[[0.42845399225520653,-0.8728107105553261],[0.44064324803144317,-0.8556719214519887]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[-0.21392811869650746,-0.6457898559835991,0.71338606911949],"aabb_xy":[[-0.2689235965171668,-0.7007898574175059],[-0.15893264087584805,-0.590789854549692]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[0.029825087493968172,1.5739456837775019,0.71338606911949],"aabb_xy":[[-0.007674914021663537,1.5627189107613568],[0.06732508900959988,1.585172456793647]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.5630793756498464,-2.045504676866758,0.71338606911949],"aabb_xy":[[0.5179080578016776,-2.109504674011297],[0.6082506934980155,-1.98150467972222]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.5183757788319245,-2.024560336089437,0.71338606911949],"aabb_xy":[[-0.5983757759914997,-2.036107937047254],[-0.43837578167234914,-2.01301273513162]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.6293176613140693,0.6403837482179253,0.71338606911949],"aabb_xy":[[-0.6720843681934896,0.576383744796123],[-0.5865509544346492,0.7043837516397279]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.16341609148711755,-2.323816928084396,0.71338606911949],"aabb_xy":[[-0.16805120663935091,-2.327684263161544],[-0.15878097633488414,-2.3199495930072467]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[-0.35848383529923206,1.7895062098924508,0.71338606911949],"aabb_xy":[[-0.4284838317091938,1.7690682742407686],[-0.2884838388892702,1.809944145544132]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.2811093158293773,1.4044218343444062,0.71338606911949],"aabb_xy":[[-0.29267829657631395,1.3794218342274744],[-0.2695403350824408,1.4294218344613379]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[-0.2870916614732562,-0.1906052350639924,0.71338606911949],"aabb_xy":[[-0.342084872810393,-0.24560523540278603],[-0.23209845013611952,-0.1356052347251988]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[0.624620070794611,0.12322059264480467,0.71338606911949],"aabb_xy":[[0.5875859613665513,0.08884338531109522],[0.6616541802226708,0.15759779997851409]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.0006776692041045029,-1.0416982176512442,0.71338606911949],"aabb_xy":[[-0.020736080817344793,-1.0617633045604016],[0.019380742409135787,-1.0216331307420863]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[-0.5091931707528976,0.2551914312023591,0.71338606911949],"aabb_xy":[[-0.5466931711011253,0.24340003562127555],[-0.47169317040466974,0.26698282678344265]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_25","position":[-0.1898941354533954,0.3480914641209547,0.71338606911949],"aabb_xy":[[-0.20066710937476318,0.3130914659019158],[-0.17912116153202762,0.38309146233999375]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[0.3430960094813935,1.2683381981064152,0.71338606911949],"aabb_xy":[[0.26309601251835435,1.1912625564626416],[0.4230960064444327,1.3454138397501885]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[-0.5318872666897863,-0.7431323099928533,0.71338606911949],"aabb_xy":[[-0.5693872667953791,-0.7499544718458343],[-0.49438726658419324,-0.7363101481398721]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_28","position":[-0.3142923889549519,0.669759298005105,0.71338606911949],"aabb_xy":[[-0.3642923899740872,0.6332930822672771],[-0.26429238793581666,0.706225513742933]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_29","position":[0.0992355566873876,-0.6536836251616158,0.71338606911949],"aabb_xy":[[0.06173555651551567,-0.6863843605445229],[0.13673555685925953,-0.6209828897787085]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_30","position":[-0.39661155752105304,-0.9253678723133258,0.71338606911949],"aabb_xy":[[-0.4040240130624415,-0.9312190827349539],[-0.38919910197966456,-0.919516661891698]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_31","position":[0.2679257941783256,-1.2042567323069977,0.71338606911949],"aabb_xy":[[0.23292579282684392,-1.2246164682638183],[0.30292579552980736,-1.1838969963501766]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_32","position":[-0.09671469810617117,0.5819084275658475,0.71338606911949],"aabb_xy":[[-0.15671469835757235,0.5276271025293827],[-0.03671469785476998,0.636189752602312]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_33","position":[-0.48898286074676456,-0.9610330315923963,0.71338606911949],"aabb_xy":[[-0.5264828591701648,-0.9741972455602268],[-0.4514828623233641,-0.9478688176245655]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6685068804442449,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9791.png","name":"9791"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9791.png","name":"9791"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6614.png","name":"6614"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2345.png","name":"2345"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4243.png","name":"4243"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/354.png","name":"354"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":528.5150750682691,"rotation_z_degrees":266.1700193264381,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0072111590481892356,-0.011530477180241312,-0.009434442231223276]},{"name":"camera_2","offset_m":[-0.0075510473109459495,0.013435600920940146,0.01435802023410301]},{"name":"camera_3","offset_m":[-0.0019320868050161054,-0.00011232163264367212,-0.0038307221615536714]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000756636441225326,-0.0009043663724534663,0.0014766122726787298],"end_effector_yaw_offset_degrees":-0.6155168271936313},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015842808225108155,0.00025399917124853313,-0.0004665347427665605],"end_effector_yaw_offset_degrees":-0.11211063694324208},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00024985595571055713,0.00018753041288002053,-0.0018548988732554027],"end_effector_yaw_offset_degrees":0.13826904487298708}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024354547945527705,-0.0015810152645747812],"position_m":[0.20116454520544724,-0.047381015264574784,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003155088261528562,7.169321434120652e-05],"position_m":[0.23795508826152856,-0.3635283067856588,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004230925647773142,-0.0040719467172224836],"position_m":[0.16506907435222687,0.2260280532827775,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037909930341914833,-0.003653147562156578],"position_m":[0.3375909930341915,0.11404685243784342,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"126afbd4cb5ae827a0206f053f9ff853a68a9e46a5ab8a12d4ff5404689041c9","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0014.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9791/tex_ceiling_textures_354/tex_floor_textures_4243/tex_table_textures_6614/tex_wall_textures_2345","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3749735088883680578,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3749735088883680578,"visual_seed":3749735088883680578,"scene_id":"lab_003","finished_at":"2026-09-04T06:53:23"}
+{"episode_id":"ep_000015","started_at":"2026-09-04T06:53:26","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.6044624283286983,-2.2238552340217437,0.71338606911949],"aabb_xy":[[-0.6389249063417861,-2.230518911204666],[-0.5699999503156106,-2.2171915568388205]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.04960059122051674,0.7023843911573509,0.71338606911949],"aabb_xy":[[-0.06247249472145688,0.6223843907435147],[-0.036728687719576596,0.782384391571187]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.6830032013499736,1.31392330169047,0.71338606911949],"aabb_xy":[[0.6455032008526153,1.3099546181423514],[0.7205032018473317,1.3178919852385884]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.707612394095898,1.7171885730425527,0.71338606911949],"aabb_xy":[[0.7022748184298935,1.6921885721134127],[0.7129499697619026,1.7421885739716922]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.44103470896087105,-0.8150797527421587,0.71338606911949],"aabb_xy":[[0.3932285413471024,-0.8800797554492175],[0.4888408765746397,-0.7500797500350995]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.35620499004794826,-2.522116279817072,0.71338606911949],"aabb_xy":[[0.2946142308239555,-2.586116277926119],[0.41779574927194113,-2.4581162817080253]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[-0.19099673969224706,-0.48217686732602827,0.71338606911949],"aabb_xy":[[-0.22139485079139062,-0.5125837693276976],[-0.16059862859310345,-0.45176996532435865]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.6997462719079015,-0.8293937061481433,0.71338606911949],"aabb_xy":[[0.6948469796013379,-0.8570706254507119],[0.7046455642144649,-0.8017167868455743]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[-0.10716745713633546,-1.1907040623439265,0.71338606911949],"aabb_xy":[[-0.17216745824227875,-1.2156694354120547],[-0.042167456030392195,-1.1657386892757982]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[-0.25822673972377225,0.6323795021084884,0.71338606911949],"aabb_xy":[[-0.26550905610043585,0.5423794984989793],[-0.25094442334710854,0.7223795057179973]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[-0.5272577356744174,0.6029729207343664,0.71338606911949],"aabb_xy":[[-0.5373394427529907,0.5229729228422516],[-0.5171760285958438,0.6829729186264809]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[-0.07272664468226442,-2.016329337889589,0.71338606911949],"aabb_xy":[[-0.12272147761020602,-2.0663293367848325],[-0.022731811754322817,-1.9663293389943455]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[-0.231570285459557,-0.19114760775318906,0.71338606911949],"aabb_xy":[[-0.3215702851827311,-0.21422096028836884],[-0.14157028573638275,-0.16807425521800917]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[0.35321235417621777,1.0668795131077378,0.71338606911949],"aabb_xy":[[0.34711772628809945,1.058310118556069],[0.3593069820643361,1.0754489076594065]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.5326292460822221,-0.3262483904243152,0.71338606911949],"aabb_xy":[[-0.5966292493719301,-0.3695833094282328],[-0.4686292427925139,-0.2829134714203976]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.2487018681186401,-2.28248749409273,0.71338606911949],"aabb_xy":[[-0.32870186508167926,-2.3595631357365034],[-0.16870187115560092,-2.2054118524489565]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[-0.08644397310681773,-0.7311675589360025,0.71338606911949],"aabb_xy":[[-0.11428900988742485,-0.7619520576743142],[-0.058598936326210604,-0.7003830601976908]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[-0.6072481761366386,-1.2811318430485141,0.71338606911949],"aabb_xy":[[-0.6712481725322117,-1.3450951314672477],[-0.5432481797410655,-1.2171685546297806]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[0.450173745136462,-0.22400699734933838,0.71338606911949],"aabb_xy":[[0.4003569656716273,-0.27400699583364174],[0.49999052460129684,-0.17400699886503498]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.5966193934849422,0.20353658415523768,0.71338606911949],"aabb_xy":[[0.5787502857304867,0.18970367617802675],[0.6144885012393977,0.2173694921324486]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[-0.5102497677478632,-1.686626705594018,0.71338606911949],"aabb_xy":[[-0.519667242317726,-1.696042882731737],[-0.5008322931780005,-1.677210528456299]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[0.415427093252537,-1.3679967813222422,0.71338606911949],"aabb_xy":[[0.38042709494184157,-1.3757117962457879],[0.45042709156323246,-1.3602817663986966]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[-0.1695139849344719,1.4076617188753517,0.71338606911949],"aabb_xy":[[-0.2545139833518951,1.3227874234130665],[-0.08451398651704864,1.4925360143376365]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676887164581115,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2170.png","name":"2170"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2170.png","name":"2170"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4930.png","name":"4930"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6032.png","name":"6032"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6904.png","name":"6904"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7128.png","name":"7128"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":726.1159187854912,"rotation_z_degrees":172.73354503730152,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003550736240755043,-0.00043184952417300165,-0.0143069425202243]},{"name":"camera_2","offset_m":[-0.006825429515141392,-0.012269193846627328,-0.01219841011483687]},{"name":"camera_3","offset_m":[-0.014240969981329076,0.0012444414465072433,-0.002153121872426101]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010802895892989826,-0.00022693286814225947,0.0008633631866878811],"end_effector_yaw_offset_degrees":0.440633728545607},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001153438334540132,0.0013807631006696273,-0.0009861793984786967],"end_effector_yaw_offset_degrees":0.8017901046437488},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018128513452674603,0.001144502179980066,0.0009926229837273074],"end_effector_yaw_offset_degrees":-0.21658222613456024}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00043177692304484025,-0.00011547232953559947],"position_m":[0.20403177692304483,-0.0459154723295356,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-1.818978348695939e-05,-0.0032923854541469857],"position_m":[0.23478181021651304,-0.366892385454147,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015272562037697613,3.995244930470564e-06],"position_m":[0.16777274379623025,0.23010399524493047,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003922282929355256,0.0019466056881353496],"position_m":[0.33772228292935524,0.11964660568813534,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2cad8ccaf75234b1b302baaba6b9debccf821d6c79a73ee63a5e3940f4f7c7aa","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2170/tex_ceiling_textures_7128/tex_floor_textures_6904/tex_table_textures_4930/tex_wall_textures_6032","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":9219937909770033809,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":9219937909770033809,"visual_seed":9219937909770033809,"scene_id":"lab_003","finished_at":"2026-09-04T06:56:09"}
+{"episode_id":"ep_000016","started_at":"2026-09-04T06:56:12","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[0.5997473614038333,-0.6813390798876688,0.71338606911949],"aabb_xy":[[0.5647473600523516,-0.7016988158444897],[0.6347473627553151,-0.660979343930848]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.3719464925120224,-0.6741854902619937,0.71338606911949],"aabb_xy":[[0.321963542324543,-0.724185489904554],[0.42192944269950167,-0.6241854906194332]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.04734313958826142,-0.3887354004418042,0.71338606911949],"aabb_xy":[[-0.06425387202460318,-0.4022076060344187],[-0.030432407151919635,-0.37526319484918963]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[0.27706932840080734,0.866225740164273,0.71338606911949],"aabb_xy":[[0.19706932732768706,0.8564476938268886],[0.3570693294739277,0.8760037865016574]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[0.6223845246140267,-1.8669081762162512,0.71338606911949],"aabb_xy":[[0.6174852323074631,-1.8945850955188197],[0.6272838169205901,-1.8392312569136822]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.33889034075494917,-2.0489922836991386,0.71338606911949],"aabb_xy":[[-0.38013915178486385,-2.1039922832113556],[-0.2976415297250344,-1.9939922841869209]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[0.49686631222331856,0.8165497462384668,0.71338606911949],"aabb_xy":[[0.4546818980624878,0.7525497459612556],[0.5390507263841493,0.880549746515678]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[-0.6032855951986128,-1.1399524764442928,0.71338606911949],"aabb_xy":[[-0.6207855954436621,-1.1574522642838596],[-0.5857855949535633,-1.122452688604726]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.005638930825064281,-1.2457491084133532,0.71338606911949],"aabb_xy":[[-0.013853475940748258,-1.2544256987109943],[0.0025756142906196993,-1.2370725181157116]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.5713807714349912,1.1585524578377524,0.71338606911949],"aabb_xy":[[-0.5814624785135646,1.0785524599456375],[-0.5612990643564176,1.2385524557298668]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.5995455819388216,1.7398851850358725,0.71338606911949],"aabb_xy":[[-0.6165556792288721,1.7237506965375986],[-0.5825354846487708,1.7560196735341465]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[-0.5120035061529933,-1.6359925019760206,0.71338606911949],"aabb_xy":[[-0.5403332161015335,-1.6404532441697377],[-0.48367379620445305,-1.6315317597823036]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.5692255843671536,0.912456233005976,0.71338606911949],"aabb_xy":[[-0.6242178350026646,0.8574562312626633],[-0.5142333337316427,0.9674562347492889]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[-0.3338591507472831,-0.23980557028594252,0.71338606911949],"aabb_xy":[[-0.41385914872806817,-0.24740711124779446],[-0.25385915276649806,-0.23220402932409057]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.14881960565251906,-0.8374481120539048,0.71338606911949],"aabb_xy":[[0.1344851805263556,-0.8495083276084436],[0.1631540307786825,-0.825387896499366]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.1281255361395962,0.21379973614379288,0.71338606911949],"aabb_xy":[[-0.18812553664744913,0.15695300245787158],[-0.0681255356317433,0.2706464698297142]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[-0.22441149162645196,0.9528022239059815,0.71338606911949],"aabb_xy":[[-0.24691149186996733,0.9405975892462096],[-0.20191149138293654,0.9650068585657535]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[-0.501392878973443,-1.5732500063250139,0.71338606911949],"aabb_xy":[[-0.5095205671667562,-1.5821636147357214],[-0.49326519078012976,-1.5643363979143063]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.24496745600759917,-0.15117853060198216,0.71338606911949],"aabb_xy":[[-0.2505491276417279,-0.16367853041975766],[-0.23938578437347038,-0.13867853078420667]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[-0.10540635888868422,-2.152656868959677,0.71338606911949],"aabb_xy":[[-0.12295305380480315,-2.1901568705239285],[-0.08785966397256528,-2.1151568673954255]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[0.6269303222913627,-1.6236924966002009,0.71338606911949],"aabb_xy":[[0.5883846294661618,-1.6622382676563894],[0.6654760151165638,-1.585146725544012]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[-0.08303492535462331,-0.8084980558728041,0.71338606911949],"aabb_xy":[[-0.17303492394909326,-0.8247486421862252],[0.006965073239846631,-0.7922474695593832]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[0.5379591889568911,1.6714158015937035,0.71338606911949],"aabb_xy":[[0.4579591875267639,1.5918986465810938],[0.6179591903870183,1.7509329566063128]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[-0.2977309442303854,1.4420717184098328,0.71338606911949],"aabb_xy":[[-0.30644491328031975,1.4195717177506442],[-0.2890169751804508,1.4645717190690206]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_24","position":[0.3168770422670848,-2.0045436527297134,0.71338606911949],"aabb_xy":[[0.251877044385437,-2.055667316436254],[0.38187704014873264,-1.9534199890231725]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_25","position":[-0.5256147209352292,0.10041157364763853,0.71338606911949],"aabb_xy":[[-0.5666326643216001,0.0504115730166812],[-0.4845967775488583,0.15041157427859586]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_26","position":[-0.5662164395560834,1.6086226976106084,0.71338606911949],"aabb_xy":[[-0.6562164392792574,1.5855493450754283],[-0.4762164398329091,1.631696050145788]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_27","position":[-0.6287801165231229,0.7123683800830132,0.71338606911949],"aabb_xy":[[-0.6380737347602735,0.6748683815948793],[-0.6194864982859724,0.7498683785711471]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_28","position":[0.22066564739713324,-1.7069575992518176,0.71338606911949],"aabb_xy":[[0.21533313274252025,-1.712281927497053],[0.22599816205174622,-1.701633271006582]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[0.47187158066079626,-1.8470133649038494,0.71338606911949],"aabb_xy":[[0.41785598437889626,-1.9110133677961063],[0.5258871769426963,-1.783013362011592]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_30","position":[-0.18226070868618593,-0.14988962570600917,0.71338606911949],"aabb_xy":[[-0.1954916542208672,-0.16311704472800856],[-0.16902976315150461,-0.13666220668400972]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_31","position":[0.13595766947347276,1.5996780190208875,0.71338606911949],"aabb_xy":[[0.07195766756113045,1.5437668697628772],[0.19995767138581513,1.6555891682788981]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686564545738866,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8686.png","name":"8686"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8686.png","name":"8686"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6028.png","name":"6028"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2468.png","name":"2468"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1661.png","name":"1661"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6844.png","name":"6844"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":681.3659744446286,"rotation_z_degrees":98.49253149782999,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01809392718963157,-0.003475089769430239,-0.0032593437355236433]},{"name":"camera_2","offset_m":[-0.0012123103053567515,0.01761513644084466,0.006833119829517509]},{"name":"camera_3","offset_m":[-0.004341197850137236,-0.017593550597196316,-0.004455013825779428]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014607951684782743,0.000400993765718889,-0.0017810526110915467],"end_effector_yaw_offset_degrees":-0.5907463812241327},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00042454788489375153,-0.0012284759687828505,6.442453228087302e-05],"end_effector_yaw_offset_degrees":-0.7104258485227242},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001833281113289442,0.0014928183106330557,-0.0002211623167657044],"end_effector_yaw_offset_degrees":0.7315947657581048}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004136542739409459,0.0038127975451908826],"position_m":[0.19946345726059053,-0.041987202454809115,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003800709653588607,0.0007942435771647726],"position_m":[0.23860070965358862,-0.3628057564228352,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004142851681213198,0.0024772012623645815],"position_m":[0.1651571483187868,0.23257720126236459,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004401768326261568,-0.004530664714394312],"position_m":[0.33820176832626153,0.11316933528560569,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"de8e8a5502c26a683227c16146b4ea4d0cafd8ff148e246607383c01ca93134a","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0016.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8686/tex_ceiling_textures_6844/tex_floor_textures_1661/tex_table_textures_6028/tex_wall_textures_2468","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3033920626770711052,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3033920626770711052,"visual_seed":3033920626770711052,"scene_id":"lab_003","finished_at":"2026-09-04T06:58:59"}
+{"episode_id":"ep_000017","started_at":"2026-09-04T06:59:02","dimensions":{"distractor":{"count":22,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[-0.097018064710789,-0.9886488605006662,0.71338606911949],"aabb_xy":[[-0.18701806330525894,-1.0048994468140873],[-0.007018066116319055,-0.9723982741872452]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[-0.09090534895841573,-2.0200876071401623,0.71338606911949],"aabb_xy":[[-0.11590534889093364,-2.0269702753610854],[-0.06590534902589786,-2.0132049389192392]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.31012425573735203,-1.8896304101648962,0.71338606911949],"aabb_xy":[[-0.36512425491394146,-1.9446200849398536],[-0.2551242565607625,-1.8346407353899383]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[-0.41745960632774115,1.3105747331661677,0.71338606911949],"aabb_xy":[[-0.42617357537767553,1.288074732506979],[-0.40874563727780655,1.3330747338253555]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[-0.18877411213338546,0.5513636127109058,0.71338606911949],"aabb_xy":[[-0.21992103097696855,0.48136361402409866],[-0.15762719328980232,0.621363611397713]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.5849135629663577,0.2962010207549013,0.71338606911949],"aabb_xy":[[-0.6349135643272448,0.2462231161794857],[-0.5349135616054703,0.3461789253303169]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[-0.1646963230316062,-1.81304750893234,0.71338606911949],"aabb_xy":[[-0.21469632167752742,-1.862967052591802],[-0.11469632438568503,-1.7631279652728773]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[-0.17987610923935538,-1.350817253376195,0.71338606911949],"aabb_xy":[[-0.18995781631792885,-1.4308172512683097],[-0.1697944021607819,-1.2708172554840804]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.3185931506458559,-1.4431235616011564,0.71338606911949],"aabb_xy":[[0.3094332717019794,-1.4496547796446932],[0.32775302958973257,-1.4365923435576191]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.3881290009722087,-0.8838731859097002,0.71338606911949],"aabb_xy":[[-0.4251631104002684,-0.9182503932434095],[-0.3510948915441489,-0.8494959785759907]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[-0.5408010278797025,1.1827118313169755,0.71338606911949],"aabb_xy":[[-0.546895655767821,1.1741424367653068],[-0.5347063999915843,1.1912812258686443]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.01711478018736845,-1.4645038683692984,0.71338606911949],"aabb_xy":[[-0.06709773037484777,-1.5145038680118585],[0.03286817000011088,-1.4145038687267377]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.1333030706131525,-0.644460266757638,0.71338606911949],"aabb_xy":[[-0.18829854843381186,-0.6994602681915448],[-0.07830759279249308,-0.589460265323731]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.0807199887326614,-1.7384075768228264,0.71338606911949],"aabb_xy":[[0.06160768137468253,-1.7575423557000684],[0.09983229609064026,-1.7192727979455844]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[-0.357208887655756,1.454205197463399,0.71338606911949],"aabb_xy":[[-0.3621081799623195,1.4265282781608302],[-0.3523095953491925,1.4818821167659677]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[-0.37096980955695347,-0.42296748106421855,0.71338606911949],"aabb_xy":[[-0.37966777184766876,-0.4350924553716933],[-0.3622718472662381,-0.41084250675674383]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.299302583945607,-0.16180411912966575,0.71338606911949],"aabb_xy":[[-0.31123531830743506,-0.17418627193752512],[-0.2873698495837789,-0.14942196632180638]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.4023654370802722,-1.0697694113702338,0.71338606911949],"aabb_xy":[[-0.4723654388890176,-1.0911231801344212],[-0.33236543527152673,-1.0484156426060465]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.16841849417696342,1.2067161049958632,0.71338606911949],"aabb_xy":[[0.15900101960710067,1.197299927858144],[0.17783596874682617,1.216132282133582]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[-0.13593230626311337,1.1591172208732305,0.71338606911949],"aabb_xy":[[-0.20093230482018617,1.129364687459348],[-0.0709323077060405,1.1888697542871132]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[-0.29495167849341947,0.9650026690750759,0.71338606911949],"aabb_xy":[[-0.3649516818849814,0.929686895371645],[-0.22495167510185746,1.0003184427785066]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[0.32302935471169136,-1.91776956542689,0.71338606911949],"aabb_xy":[[0.2590293544512205,-1.9627783647798183],[0.3870293549721621,-1.8727607660739622]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681278628306415,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4510.png","name":"4510"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4510.png","name":"4510"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8421.png","name":"8421"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/459.png","name":"459"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4616.png","name":"4616"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2725.png","name":"2725"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":692.777853297729,"rotation_z_degrees":305.39752177074183,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01828606381806829,0.019792747451752652,-0.007114009224600962]},{"name":"camera_2","offset_m":[-0.0009226574765063139,-0.0053056542042907925,0.008528264987107965]},{"name":"camera_3","offset_m":[0.017453710243502975,-0.0009178925501288418,-0.008624799585613064]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019020864459228255,0.00015134923668798416,0.0001262749630342448],"end_effector_yaw_offset_degrees":-0.9321607232159324},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011005003895421584,0.0013555201892190795,0.0006096743738933431],"end_effector_yaw_offset_degrees":-0.7369231906418063},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004496834907362405,0.00030479423631999325,-0.001561858264260354],"end_effector_yaw_offset_degrees":-0.3061900729511613}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004558908052326496,-0.003971540508555839],"position_m":[0.1990410919476735,-0.04977154050855584,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003059015313120741,-0.0035987818890725644],"position_m":[0.23510590153131208,-0.36719878188907257,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00299412815367479,0.004346188514447542],"position_m":[0.16630587184632523,0.23444618851444754,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035296959301645255,0.0010708474475127462],"position_m":[0.3373296959301645,0.11877084744751275,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7f33727c194c78bfc6a0fc1bc554cc8cfe5dc519e5de8667c9fbcb25dc016c92","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4510/tex_ceiling_textures_2725/tex_floor_textures_4616/tex_table_textures_8421/tex_wall_textures_459","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7567545610928746544,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7567545610928746544,"visual_seed":7567545610928746544,"scene_id":"lab_003","finished_at":"2026-09-04T07:01:47"}
+{"episode_id":"ep_000018","started_at":"2026-09-04T07:01:50","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[0.46947676501978974,-2.118480693067818,0.71338606911949],"aabb_xy":[[0.45197676477474036,-2.1359804809073846],[0.48697676526483913,-2.100980905228251]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.06344397487989417,-0.8097192909857658,0.71338606911949],"aabb_xy":[[-0.14344397286067923,-0.8173208319476177],[0.016556023100890865,-0.8021177500239138]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[0.41063898718002134,0.5455035178544043,0.71338606911949],"aabb_xy":[[0.3856389876282829,0.5353610339892695],[0.4356389867317599,0.5556460017195389]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.49574401257225065,-1.9508507029742561,0.71338606911949],"aabb_xy":[[-0.5807440109896739,-2.0357249984365415],[-0.4107440141548274,-1.8659764075119714]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[-0.6235007337102372,-1.304497857875827,0.71338606911949],"aabb_xy":[[-0.6298128332465756,-1.310264797129046],[-0.6171886341738988,-1.2987309186226081]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[-0.2920660380338319,1.7003221050671633,0.71338606911949],"aabb_xy":[[-0.31991107481443903,1.6695376063288516],[-0.2642210012532248,1.731106603805475]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[-0.09848393193234639,0.34262811052842324,0.71338606911949],"aabb_xy":[[-0.107643810876223,0.3360968924848862],[-0.08932405298846981,0.34915932857196025]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.44412954675330046,-1.7005790620929457,0.71338606911949],"aabb_xy":[[-0.4816295479380932,-1.704997284789006],[-0.4066295455685076,-1.696160839396885]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[0.11071554578063003,-1.395975076896841,0.71338606911949],"aabb_xy":[[0.08854301880397918,-1.4181507440529644],[0.13288807275728085,-1.3737994097407178]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.5552309138866622,-1.7202491330329959,0.71338606911949],"aabb_xy":[[0.5002309147100726,-1.7752388078079535],[0.6102309130632516,-1.6652594582580382]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.6311135687426666,1.625771228312232,0.71338606911949],"aabb_xy":[[0.5811347602323506,1.5757712283065133],[0.6810923772529823,1.675771228317951]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[-0.43355783812026916,-0.09294114130850062,0.71338606911949],"aabb_xy":[[-0.49755783882373855,-0.13895952378142162],[-0.3695578374167998,-0.046922758835579614]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.06607288003325229,1.0487427152734168,0.71338606911949],"aabb_xy":[[-0.08071628558728526,1.0340839956166323],[-0.05142947447921929,1.0634014349302008]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[0.5211075653351522,0.15365826601013755,0.71338606911949],"aabb_xy":[[0.4661143539980155,0.09865826567134395],[0.576100776672289,0.20865826634893117]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.19476046676881487,-2.258948364175146,0.71338606911949],"aabb_xy":[[0.14074487048691484,-2.3229483670674034],[0.24877606305071484,-2.194948361282889]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[-0.1102995887849082,1.5263496481080634,0.71338606911949],"aabb_xy":[[-0.1467954094121869,1.4898657056813056],[-0.07380376815762943,1.5628335905348207]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[-0.033207863767299006,-1.376959949223169,0.71338606911949],"aabb_xy":[[-0.11320786235461844,-1.4562755511613297],[0.04679213482002041,-1.2976443472850079]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[-0.3838238528679747,1.0271391413768445,0.71338606911949],"aabb_xy":[[-0.41882385117867016,1.0194241264532988],[-0.34882385455727927,1.0348541563003901]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.5748792303647909,-0.012574966399112153,0.71338606911949],"aabb_xy":[[-0.596787912504142,-0.034475633219202884],[-0.5529705482254399,0.009325700420978578]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[-0.14677026816467698,1.236684597460989,0.71338606911949],"aabb_xy":[[-0.16497609182592468,1.2256591968789974],[-0.12856444450342933,1.2477099980429807]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.35509808956795214,-2.5190750032287483,0.71338606911949],"aabb_xy":[[-0.3925980910835838,-2.530301776244893],[-0.31759808805232037,-2.507848230212603]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.49816738012025674,0.5808912147850704,0.71338606911949],"aabb_xy":[[-0.5095291147735429,0.5695227483787824],[-0.4868056454669706,0.5922596811913585]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[-0.12590237433295726,-1.0207332355505208,0.71338606911949],"aabb_xy":[[-0.1808946249684682,-1.0757332372938335],[-0.0709101236974463,-0.965733233807208]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[0.3771255762839256,0.8455190117847358,0.71338606911949],"aabb_xy":[[0.3582411925154154,0.826633087004383],[0.3960099600524358,0.8644049365650885]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.47287905034372113,1.4330268340512755,0.71338606911949],"aabb_xy":[[-0.5428790521524666,1.411673065287088],[-0.4028790485349757,1.4543806028154627]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[-0.5621572430994166,-0.3378883389741474,0.71338606911949],"aabb_xy":[[-0.6271572409810645,-0.3890120026806883],[-0.49715724521776894,-0.2867646752676065]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[0.40673557915706837,1.1331226510718682,0.71338606911949],"aabb_xy":[[0.36543103609333233,1.069122651503751],[0.4480401222208043,1.1971226506399852]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_27","position":[0.02351610280970695,-1.9859632791995192,0.71338606911949],"aabb_xy":[[-0.02648389663048867,-2.0359312036838357],[0.07351610224990257,-1.9359953547152027]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[0.4964791992840063,0.6335285378316593,0.71338606911949],"aabb_xy":[[0.4821447741578428,0.6214683222771205],[0.5108136244101698,0.6455887533861981]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[0.4432150845365239,0.7127545488332392,0.71338606911949],"aabb_xy":[[0.43264760487842496,0.7022095187202306],[0.453782564194623,0.7232995789462477]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_30","position":[-0.34016841025877964,0.6064937584888348,0.71338606911949],"aabb_xy":[[-0.37701895819576725,0.568993757665801],[-0.30331786232179203,0.6439937593118684]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_31","position":[0.21861631818261817,-0.8101952503881189,0.71338606911949],"aabb_xy":[[0.138616321219579,-0.8872708920318922],[0.29861631514565734,-0.7331196087443453]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6660712771087374,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1857.png","name":"1857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1857.png","name":"1857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8178.png","name":"8178"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5767.png","name":"5767"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/916.png","name":"916"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3159.png","name":"3159"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":531.936095159799,"rotation_z_degrees":154.42651354982132,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004065708779513292,-0.007358298526444011,0.01898848810086631]},{"name":"camera_2","offset_m":[0.0021805108233651643,-0.018087516494448,0.010677567914450573]},{"name":"camera_3","offset_m":[0.000311260271811626,0.011755010297711876,-0.011182645406502108]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008216135334674808,0.001088611089689689,-0.0018570357163559636],"end_effector_yaw_offset_degrees":-0.27993934638332263},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00043589275842397706,-0.00044798712132161677,0.00013298656219779817],"end_effector_yaw_offset_degrees":0.6887290720634878},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00010186727514633091,-0.0007140847495220491,-0.0019439112627123386],"end_effector_yaw_offset_degrees":0.1110909758662415}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0001254824581016353,0.003931996937447912],"position_m":[0.20372548245810163,-0.04186800306255209,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015659690025894282,-0.0027020692737904474],"position_m":[0.23323403099741058,-0.36630206927379044,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0045269478837624685,-0.003335105542368173],"position_m":[0.17382694788376246,0.22676489445763182,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004421114694312257,-0.0007879557771216829],"position_m":[0.3293788853056877,0.11691204422287832,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dfe6d5d53cdd5e27a3d01a66ba9b27802a5f3c6f841a51f4c4e1f74e59c09e81","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1857/tex_ceiling_textures_3159/tex_floor_textures_916/tex_table_textures_8178/tex_wall_textures_5767","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1401602153042168598,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1401602153042168598,"visual_seed":1401602153042168598,"scene_id":"lab_003","finished_at":"2026-09-04T07:04:34"}
+{"episode_id":"ep_000019","started_at":"2026-09-04T07:04:37","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[-0.48769959691920606,0.7738037854505926,0.71338606911949],"aabb_xy":[[-0.5376995963594017,0.7238358609662763],[-0.43769959747901044,0.8237717099349089]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.24401077134079852,-1.8377853776335225,0.71338606911949],"aabb_xy":[[-0.2940100465092347,-1.8877853789094694],[-0.19401149617236238,-1.787785376357575]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[0.5129730685556437,-2.423285382491929,0.71338606911949],"aabb_xy":[[0.43297306529780066,-2.503281890283913],[0.5929730718134866,-2.343288874699945]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[0.468906110612499,1.3668541067938302,0.71338606911949],"aabb_xy":[[0.464062515851269,1.3620024543148461],[0.47374970537372896,1.3717057592728144]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.11909711033254067,0.6179370725148035,0.71338606911949],"aabb_xy":[[0.11518323713711816,0.6091880571082466],[0.1230109835279632,0.6266860879213603]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[0.054013571467420474,-1.0566976401824117,0.71338606911949],"aabb_xy":[[-0.030986426950002748,-1.141571935644697],[0.1390135698848437,-0.971823344720127]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.18832968370375103,0.436631334296115,0.71338606911949],"aabb_xy":[[-0.19989866445068763,0.41163133417918335],[-0.17676070295681448,0.46163133441304677]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[-0.06798118619775351,1.1655483771705768,0.71338606911949],"aabb_xy":[[-0.08577469313266996,1.1477486315747791],[-0.050187679262837084,1.1833481227663745]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[0.5389685313369519,1.7395953081838207,0.71338606911949],"aabb_xy":[[0.503968531360456,1.7301306921362039],[0.5739685313134477,1.749059924231437]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.3163767891509394,1.4368170901861714,0.71338606911949],"aabb_xy":[[-0.3538767903357322,1.4323988674901107],[-0.2788767879661466,1.4412353128822317]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[-0.03011870425558827,0.4387734365149183,0.71338606911949],"aabb_xy":[[-0.04027171980973764,0.40270389494217784],[-0.019965688701438885,0.4748429780876585]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.34305275526251167,0.9624494347729984,0.71338606911949],"aabb_xy":[[-0.40705275717485406,0.906538285514988],[-0.2790527533501694,1.0183605840310088]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[-0.3544535450651858,-2.0713283934355036,0.71338606911949],"aabb_xy":[[-0.3957023560951004,-2.1263283929477206],[-0.31320473403527094,-2.0163283939232857]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[0.5205925755207619,-1.2782399104394864,0.71338606911949],"aabb_xy":[[0.5131801199793734,-1.2840911208611145],[0.5280050310621504,-1.2723887000178586]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.6594349300691578,-0.22715222567230153,0.71338606911949],"aabb_xy":[[0.6513072418758447,-0.2360658340830092],[0.6675626182624711,-0.2182386172615939]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.022377867344340996,-1.8526128989127564,0.71338606911949],"aabb_xy":[[-0.10237786781455696,-1.860923606527105],[0.057622133125874955,-1.8443021912984086]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.703983759724677,-1.838636405205103,0.71338606911949],"aabb_xy":[[0.6967399936784315,-1.9186364034087056],[0.7112275257709222,-1.7586364070015008]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[-0.29266231016471594,1.762824380541812,0.71338606911949],"aabb_xy":[[-0.29677826027678855,1.7587088255089662],[-0.2885463600526432,1.7669399355746573]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.3727591713304086,0.4611382638545889,0.71338606911949],"aabb_xy":[[-0.42775142196591964,0.4061382621112761],[-0.3177669206948977,0.5161382655979017]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.4760991856029426,-2.537476732789282,0.71338606911949],"aabb_xy":[[-0.48490124091191533,-2.545288058944211],[-0.4672971302939699,-2.529665406634353]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[-0.588431398801747,1.4082822289199957,0.71338606911949],"aabb_xy":[[-0.6534313998022476,1.3574958637653207],[-0.5234313978012466,1.4590685940746706]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[-0.34742438363755734,1.1048631533954199,0.71338606911949],"aabb_xy":[[-0.37988608451948475,1.074730321280517],[-0.31496268275562983,1.1349959855103222]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[-0.4058091531596467,1.5593788083463447,0.71338606911949],"aabb_xy":[[-0.434138863108187,1.5549180661526278],[-0.37747944321110655,1.563839550540062]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.28028116513248436,-2.21118104371861,0.71338606911949],"aabb_xy":[[0.23751445825306416,-2.2751810471404124],[0.32304787201190455,-2.1471810402968075]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.6334836523190346,-1.8147270252935492,0.71338606911949],"aabb_xy":[[-0.6884791301396939,-1.8697270267274562],[-0.5784881744983751,-1.7597270238596423]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670559555661452,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6956.png","name":"6956"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6956.png","name":"6956"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9340.png","name":"9340"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5364.png","name":"5364"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6846.png","name":"6846"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8383.png","name":"8383"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":713.1331180160353,"rotation_z_degrees":33.46965504277238,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01028483967532936,-0.0012839851455289826,-0.010072708868578757]},{"name":"camera_2","offset_m":[0.007397457311658178,-0.00818409452045127,0.01285782159057262]},{"name":"camera_3","offset_m":[-0.0029762590179654956,-0.011547224207169115,-0.014195730664001172]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013336454379660298,-0.0008010992610918964,-0.0014488000818259229],"end_effector_yaw_offset_degrees":0.1837617662594866},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005686710186288714,0.0017297400589804143,-0.0003651635188639869],"end_effector_yaw_offset_degrees":0.1107351602252562},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001979298134737669,-0.001798067938061629,0.0015954765159704202],"end_effector_yaw_offset_degrees":-0.5196240219823594}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001253115085113169,0.00232960408714159],"position_m":[0.20485311508511317,-0.04347039591285841,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012795550234676132,-0.00015256561846666364],"position_m":[0.2360795550234676,-0.36375256561846664,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003332598659686729,-0.002019833117276875],"position_m":[0.16596740134031326,0.22808016688272312,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004943779545692057,-0.0017599686168212527],"position_m":[0.33874377954569207,0.11594003138317875,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"258eaf7ec837721713101da02cf5d47e18a9998b4fd1d775aff32b6396e8f0d5","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0019.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6956/tex_ceiling_textures_8383/tex_floor_textures_6846/tex_table_textures_9340/tex_wall_textures_5364","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8674582717801464208,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8674582717801464208,"visual_seed":8674582717801464208,"scene_id":"lab_003","finished_at":"2026-09-04T07:07:28"}
+{"episode_id":"ep_000020","started_at":"2026-09-04T07:07:31","dimensions":{"distractor":{"count":30,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.08726545616681214,1.2421146558863256,0.71338606911949],"aabb_xy":[[0.007265455696596203,1.2338039482719774],[0.1672654566370281,1.250425363500674]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.1747309946004132,-2.0393638636403946,0.71338606911949],"aabb_xy":[[0.09473099594352716,-2.0538687225646575],[0.2547309932572992,-2.0248590047161317]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[-0.13238890505541256,-1.4924361412083602,0.71338606911949],"aabb_xy":[[-0.15006453564401087,-1.5101163574877627],[-0.11471327446681422,-1.4747559249289572]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.5346920670373776,-0.8851512357892817,0.71338606911949],"aabb_xy":[[-0.5427284017386624,-0.8931893550936982],[-0.5266557323360928,-0.8771131164848647]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.4963837760402794,0.007387945436548193,0.71338606911949],"aabb_xy":[[-0.5309748588943245,-0.057612054848482856],[-0.4617926931862341,0.07238794572157924]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.4154876855173559,-1.054206006629773,0.71338606911949],"aabb_xy":[[-0.4654876858779219,-1.1041859938393757],[-0.36548768515678975,-1.0042260194201698]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[0.22928657923231932,1.6193231771482925,0.71338606911949],"aabb_xy":[[0.19178657771668764,1.6080964041321475],[0.26678658074795103,1.6305499501644376]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.6006729489400946,-1.6375678779878227,0.71338606911949],"aabb_xy":[[0.5456774711194352,-1.6925678794217294],[0.655668426760754,-1.5825678765539155]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.137808899678046,-1.2787038114077043,0.71338606911949],"aabb_xy":[[0.12037818459903947,-1.2959759260715549],[0.15523961475705247,-1.2614316967438532]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[-0.6027514420301326,-1.5625375325066089,0.71338606911949],"aabb_xy":[[-0.6386649464551223,-1.5984510407233634],[-0.566837937605143,-1.5266240242898543]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[-0.24068377499491517,0.7932949380349328,0.71338606911949],"aabb_xy":[[-0.2625924571342662,0.7713942712148418],[-0.21877509285556412,0.8151956048550233]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.38935644298463123,1.2733374523698644,0.71338606911949],"aabb_xy":[[-0.4693564462424742,1.1933409445778804],[-0.3093564397267883,1.3533339601618484]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.3253500412126975,-2.0101162235270102,0.71338606911949],"aabb_xy":[[-0.3379768284998938,-2.019662297228583],[-0.3127232539255011,-2.0005701498254367]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[0.2017438863776434,0.8046071830246446,0.71338606911949],"aabb_xy":[[0.16826471911660248,0.7711280696535376],[0.23522305363868437,0.8380862963957516]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.4245604876973615,-1.419846155001107,0.71338606911949],"aabb_xy":[[-0.45956048600805693,-1.4275611699246527],[-0.38956048938666604,-1.4121311400775614]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.23287721112104004,-2.25815866252763,0.71338606911949],"aabb_xy":[[-0.24365018504240785,-2.2931586607466694],[-0.2221042371996723,-2.2231586643085914]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[-0.0037229022380618204,-1.071972796166409,0.71338606911949],"aabb_xy":[[-0.04122290253023664,-1.0760142715670125],[0.033777098054113,-1.0679313207658054]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.472019519895883,0.6011748252568063,0.71338606911949],"aabb_xy":[[0.4660529809551471,0.5952136805974423],[0.47798605883661865,0.6071359699161704]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.03872826326573309,-0.7430739089818401,0.71338606911949],"aabb_xy":[[0.0316879533321961,-0.8230739083815117],[0.045768573199270086,-0.6630739095821688]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[0.6378029627048758,1.4321827697935041,0.71338606911949],"aabb_xy":[[0.6200094557699595,1.4143830241977062],[0.6555964696397923,1.4499825153893016]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[0.061352948219216996,-1.9311443647294873,0.71338606911949],"aabb_xy":[[0.04425087026084883,-1.9482511702607568],[0.07845502617758515,-1.9140375591982173]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[0.07708440289443075,-2.427132198559272,0.71338606911949],"aabb_xy":[[0.039584403077397176,-2.431770409870414],[0.11458440271146429,-2.42249398724813]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.3044141955070655,0.9621973633157364,0.71338606911949],"aabb_xy":[[-0.31321625081603816,0.9543860371608073],[-0.29561214019809273,0.9700086894706654]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[0.4401764064194802,-1.5839886054292736,0.71338606911949],"aabb_xy":[[0.43147844412876496,-1.5961135797367487],[0.44887436871019554,-1.5718636311217993]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_24","position":[0.12000478299624096,0.9754608575353769,0.71338606911949],"aabb_xy":[[0.09750478298609265,0.9613646378957736],[0.14250478300638925,0.9895570771749802]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[0.10740760420990736,-1.512963215778272,0.71338606911949],"aabb_xy":[[0.04340760198950033,-1.5573362999035603],[0.17140760643031439,-1.4685901316529837]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_26","position":[-0.015763683007993468,-1.7011243681681387,0.71338606911949],"aabb_xy":[[-0.020607277769223442,-1.7059760206471228],[-0.010920088246763493,-1.6962727156891546]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_27","position":[-0.3655245219798095,-1.5333551185289687,0.71338606911949],"aabb_xy":[[-0.40302452316460224,-1.5377733412250287],[-0.32802452079501665,-1.5289368958329077]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_28","position":[0.326329670768029,0.6841888337999644,0.71338606911949],"aabb_xy":[[0.30132967149606676,0.6678434702038021],[0.3513296700399913,0.7005341973961268]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_29","position":[-0.6268343265707627,1.191039291099084,0.71338606911949],"aabb_xy":[[-0.6908343257405326,1.1442726039801212],[-0.5628343274009927,1.2378059782180462]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625835867641078,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/754.png","name":"754"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/754.png","name":"754"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9266.png","name":"9266"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5772.png","name":"5772"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3458.png","name":"3458"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7345.png","name":"7345"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":576.2161027949337,"rotation_z_degrees":301.44423042902105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0067876461078537394,-0.0195820224008485,0.01204192460677873]},{"name":"camera_2","offset_m":[0.014373300674585341,0.0028108260505417745,0.002861187828767278]},{"name":"camera_3","offset_m":[0.008352663520624734,-0.00701714659387016,0.007856709845533966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013533194394810834,-0.0019120940651092754,-0.0016128072818152393],"end_effector_yaw_offset_degrees":-0.6797243372959481},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016769651407542998,-0.0008772562154341595,0.000863095561857377],"end_effector_yaw_offset_degrees":-0.9086991682060179},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014390979642431322,9.84636444377289e-05,0.000818818635913716],"end_effector_yaw_offset_degrees":0.8988459882015918}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004679953593813541,-0.001031322142623919],"position_m":[0.19892004640618646,-0.04683132214262392,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027323228641997067,0.001882344533294904],"position_m":[0.23206767713580032,-0.3617176554667051,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001124775698271623,-0.0035305341508565556],"position_m":[0.16817522430172838,0.22656946584914345,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036862216616530994,-0.00327177361340139],"position_m":[0.3374862216616531,0.11442822638659861,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e4c9728606059d09bca5caeea8da636b73f5bfd8d2ef2b9d68372e67b91fbdf2","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0020.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_754/tex_ceiling_textures_7345/tex_floor_textures_3458/tex_table_textures_9266/tex_wall_textures_5772","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1269916849576988965,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1269916849576988965,"visual_seed":1269916849576988965,"scene_id":"lab_003","finished_at":"2026-09-04T07:10:11"}
+{"episode_id":"ep_000021","started_at":"2026-09-04T07:10:14","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.05218343632594391,1.369564017519946,0.71338606911949],"aabb_xy":[[-0.06976173851489076,1.351989527945841],[-0.034605134136997055,1.387138507094051]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[-0.49364116688965143,1.503076209398151,0.71338606911949],"aabb_xy":[[-0.5833282431977669,1.4130762091437001],[-0.40395409058153603,1.5930762096526012]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[-0.5803375335785206,-1.7950460070176177,0.71338606911949],"aabb_xy":[[-0.6114844524221037,-1.865046005704425],[-0.5491906147349375,-1.7250460083308106]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.0096545877556099,-1.767772491392399,0.71338606911949],"aabb_xy":[[-0.027154521189593273,-1.7852724913126332],[0.007845345678373474,-1.7502724914721641]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.18734867278975975,0.31839570177381704,0.71338606911949],"aabb_xy":[[-0.24234188412689656,0.26339570143502344],[-0.13235546145262303,0.37339570211261064]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[0.15264840612846042,-2.2200079739848273,0.71338606911949],"aabb_xy":[[0.11835149511071977,-2.2543048601947677],[0.18694531714620102,-2.185711087774885]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[0.08344060369960771,-2.425081508864448,0.71338606911949],"aabb_xy":[[0.03844060223337887,-2.4700813657259286],[0.12844060516583658,-2.3800816520029673]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.26427581977751213,-0.5330306275821095,0.71338606911949],"aabb_xy":[[-0.31940102540710286,-0.5930306290233965],[-0.20915061414792133,-0.4730306261408223]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.11976890601954193,1.7720399783020313,0.71338606911949],"aabb_xy":[[-0.14268461890459186,1.749135681165608],[-0.09685319313449206,1.794944275438455]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.6026212698025504,0.1341558726955383,0.71338606911949],"aabb_xy":[[0.5226212665385372,0.12059584038662496],[0.6826212730665635,0.14771590500445164]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[0.43365245560934573,0.17250588822915924,0.71338606911949],"aabb_xy":[[0.39918997759625796,0.1658422110462364],[0.4681149336224335,0.17916956541208204]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[0.47993666466607965,0.6614108389219093,0.71338606911949],"aabb_xy":[[0.47530154951384623,0.6575435038447605],[0.48457177981831295,0.6652781739990578]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.5125574376654667,-1.3311746761571297,0.71338606911949],"aabb_xy":[[-0.5701879065527374,-1.3911746750838403],[-0.4549269687781957,-1.271174677230419]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[-0.1412673820953645,-1.0731964882049136,0.71338606911949],"aabb_xy":[[-0.20126738373828634,-1.1251966374968578],[-0.08126738045244264,-1.0211963389129695]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[0.15645165586477883,-1.158382255790309,0.71338606911949],"aabb_xy":[[0.14384895672770234,-1.1709776520151745],[0.16905435500185526,-1.1457868595654435]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.2535474730465993,0.9280275837870082,0.71338606911949],"aabb_xy":[[0.19854747387000976,0.8730379090120504],[0.30854747222318873,0.9830172585619656]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[0.6690216439111605,-1.7075731856945586,0.71338606911949],"aabb_xy":[[0.6634399722770318,-1.720073185512334],[0.6746033155452894,-1.695073185876783]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.025043405751377423,-2.263768221501902,0.71338606911949],"aabb_xy":[[-0.08504340625923033,-2.320614955187823],[0.03495659475647549,-2.206921487815981]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.3681381239738697,-1.8099652387958378,0.71338606911949],"aabb_xy":[[0.33063812555046934,-1.8231294527636683],[0.40563812239727004,-1.7968010248280069]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[0.28519263780156257,-0.8725243620523211,0.71338606911949],"aabb_xy":[[0.2517524626055429,-0.9059679878832511],[0.3186328129975821,-0.8390807362213909]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[0.37459164972467085,0.6862075977491808,0.71338606911949],"aabb_xy":[[0.36517417515480805,0.6767914206114618],[0.38400912429453354,0.6956237748868999]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[0.6548040132145674,-1.8359260921792795,0.71338606911949],"aabb_xy":[[0.5908040140447974,-1.8826927792982417],[0.7188040123843373,-1.7891594050603168]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[-0.48440057287510657,0.7909164368629682,0.71338606911949],"aabb_xy":[[-0.5069005728852549,0.7768202172233648],[-0.4619005728649582,0.8050126565025714]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625011156282493,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4283.png","name":"4283"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4283.png","name":"4283"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8914.png","name":"8914"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1476.png","name":"1476"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8943.png","name":"8943"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9448.png","name":"9448"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":502.75174255480806,"rotation_z_degrees":212.0960716434176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009200769882414628,-0.016889159916055857,0.019465164601614644]},{"name":"camera_2","offset_m":[-0.00730198305987205,-0.004002842055184409,0.00504808746517179]},{"name":"camera_3","offset_m":[-0.019835019361974463,0.013146357216143972,0.011542284850900909]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001466633279014638,0.0008078793263426847,-0.00027814753819839304],"end_effector_yaw_offset_degrees":-0.46425728589715876},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00033580601582584033,0.0001839335345641532,-0.0005236640181544466],"end_effector_yaw_offset_degrees":0.5175934790439025},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018160414360287706,-0.0004765382859980849,0.0002929458191785251],"end_effector_yaw_offset_degrees":-0.7565681026307347}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009450373237510747,0.0033330432000940177],"position_m":[0.20454503732375107,-0.04246695679990598,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029383253251826415,0.0017173488621296685],"position_m":[0.23186167467481736,-0.3618826511378703,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0030187687417869012,-0.0034069783502111086],"position_m":[0.1662812312582131,0.22669302164978888,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[5.805819467370483e-05,-0.004879325365994178],"position_m":[0.3338580581946737,0.11282067463400582,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe77205c4b907183b607c7358596a6c72ff66dba213bec08493ee0dd02d9c6b8","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4283/tex_ceiling_textures_9448/tex_floor_textures_8943/tex_table_textures_8914/tex_wall_textures_1476","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6522954501520652364,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6522954501520652364,"visual_seed":6522954501520652364,"scene_id":"lab_003","finished_at":"2026-09-04T07:12:54"}
+{"episode_id":"ep_000022","started_at":"2026-09-04T07:12:57","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.07225872897344288,-1.536011349391713,0.71338606911949],"aabb_xy":[[0.048673605509548024,-1.6010113516371447],[0.09584385243733773,-1.4710113471462811]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[-0.44935013211211416,0.033274917320107456,0.71338606911949],"aabb_xy":[[-0.47184926783834114,0.010774916541844481],[-0.4268509963858872,0.05577491809837043]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[0.3790800350730159,-2.3441592307781116,0.71338606911949],"aabb_xy":[[0.36751105432607933,-2.3691592308950433],[0.3906490158199525,-2.31915923066118]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.41284211847839414,1.5973271380725493,0.71338606911949],"aabb_xy":[[-0.4928421206411566,1.5173719544464057],[-0.33284211631563165,1.677282321698693]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[-0.3618633912816,0.26103361346068343,0.71338606911949],"aabb_xy":[[-0.3963257386797417,0.22653973106286066],[-0.3274010438834581,0.295527495858506]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[-0.22784427570226234,-0.5730126931214343,0.71338606911949],"aabb_xy":[[-0.2392060103555485,-0.5843811595277222],[-0.21648254104897618,-0.561644226715146]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.26944906388428597,-0.9987518100867223,0.71338606911949],"aabb_xy":[[-0.2846212331659193,-1.0139206670149257],[-0.2542768946026526,-0.9835829531585191]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.4820727297765679,1.4279106927604501,0.71338606911949],"aabb_xy":[[-0.5370727279783126,1.3873887261340123],[-0.427072731574823,1.4684326593868875]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[0.4875814868308834,1.733589023098212,0.71338606911949],"aabb_xy":[[0.4642996446327521,1.648589021800984],[0.5108633290290148,1.8185890243954401]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[0.10746790439185971,1.7468543310134703,0.71338606911949],"aabb_xy":[[0.017467902057840656,1.6693719764283577],[0.19746790672587877,1.824336685598583]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.2833669883200156,0.5807307021141712,0.71338606911949],"aabb_xy":[[0.24211817729010085,0.5257307026019535],[0.3246157993499303,0.6357307016263885]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[-0.12955213861299064,-1.8007024471824655,0.71338606911949],"aabb_xy":[[-0.16201383949491807,-1.8308352792973677],[-0.09709043773106317,-1.7705696150675625]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.2617970257487854,0.9835622160496666,0.71338606911949],"aabb_xy":[[0.18179702249094243,0.9035657082576827],[0.34179702900662834,1.0635587238416506]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[0.6473391690023347,-1.5712926772505509,0.71338606911949],"aabb_xy":[[0.6248391694786272,-1.5937886247011712],[0.669839168526042,-1.5487967297999297]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.25179296868922035,-1.1045116451031292,0.71338606911949],"aabb_xy":[[-0.26154895819839424,-1.1142741791623636],[-0.24203697918004646,-1.0947491110438947]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.11912304537034124,0.6311657382360756,0.71338606911949],"aabb_xy":[[-0.18071380459433406,0.5671657401270287],[-0.057532286146348435,0.6951657363451225]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.561191932288719,-1.2941518317443088,0.71338606911949],"aabb_xy":[[-0.6511919290243292,-1.3473352950616033],[-0.4711919355531088,-1.2409683684270143]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.35121606255314686,-1.0437351442114102,0.71338606911949],"aabb_xy":[[-0.3737160627966623,-1.0559397788711822],[-0.3287160623096315,-1.0315305095516383]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[-0.5810958175211268,-1.1459462006853502,0.71338606911949],"aabb_xy":[[-0.6410958177725279,-1.200227525721815],[-0.5210958172697255,-1.0916648756488856]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[0.021520362138574334,-1.9762786585806742,0.71338606911949],"aabb_xy":[[0.010668755889698733,-1.9871379493083254],[0.032371968387449934,-1.9654193678530234]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[-0.5317681504923071,-2.0749034703315012,0.71338606911949],"aabb_xy":[[-0.5957681496620769,-2.121670157450464],[-0.4677681513225371,-2.028136783212539]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[-0.5549265084292497,0.3501268309883323,0.71338606911949],"aabb_xy":[[-0.5924265085348426,0.3433046691353511],[-0.5174265083236567,0.3569489928413134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661452064360243,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3844.png","name":"3844"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3844.png","name":"3844"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4207.png","name":"4207"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3212.png","name":"3212"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6309.png","name":"6309"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4048.png","name":"4048"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":685.4239157872502,"rotation_z_degrees":251.01296101667015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013415200832163906,-0.01344346714117687,0.00934238171373672]},{"name":"camera_2","offset_m":[-0.017541705025253835,0.01203731122504938,-0.014520509758719644]},{"name":"camera_3","offset_m":[-0.015343021453942979,-0.0009515344025493762,0.019260517313374487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00013454251268350727,-0.0014607871380564186,-0.0013781852504635146],"end_effector_yaw_offset_degrees":0.6678064421678205},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008303478305847288,0.001506741007072265,0.0009756472988664594],"end_effector_yaw_offset_degrees":-0.044312253000490465},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017197239707038327,-8.129045171506241e-08,0.0007823231047449056],"end_effector_yaw_offset_degrees":0.9495439771923766}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003757903391871333,0.0006801512582143314],"position_m":[0.20735790339187132,-0.04511984874178567,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001958734530579975,-0.0034320420529444498],"position_m":[0.23284126546942002,-0.36703204205294443,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001981818773257463,0.002663012237147681],"position_m":[0.17128181877325746,0.23276301223714768,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003742097422811902,0.0021269823039317525],"position_m":[0.3300579025771881,0.11982698230393175,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ff95dea376b2e629f68f2837b6889a82528254a119270b27b3a64e28307b3a2","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0022.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3844/tex_ceiling_textures_4048/tex_floor_textures_6309/tex_table_textures_4207/tex_wall_textures_3212","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4662456495326898050,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4662456495326898050,"visual_seed":4662456495326898050,"scene_id":"lab_003","finished_at":"2026-09-04T07:15:37"}
+{"episode_id":"ep_000023","started_at":"2026-09-04T07:15:43","dimensions":{"distractor":{"count":23,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.5831359579925102,-2.502745201175492,0.71338606911949],"aabb_xy":[[-0.6681359566845847,-2.5347310645703702],[-0.4981359593004354,-2.4707593377806125]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[-0.621409293513042,1.231259185156095,0.71338606911949],"aabb_xy":[[-0.6564092934895379,1.2217945691084784],[-0.5864092935365463,1.2407238012037116]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.6377797570179686,-0.8836304714496184,0.71338606911949],"aabb_xy":[[0.5877797566574023,-0.9336104586592212],[0.6877797573785345,-0.8336504842400153]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[0.5521525587547347,-2.518493346773939,0.71338606911949],"aabb_xy":[[0.5021575477952827,-2.568493345809531],[0.6021475697141867,-2.4684933477383475]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.637915230546242,-1.455809126793268,0.71338606911949],"aabb_xy":[[-0.6629152300979804,-1.4659516106584025],[-0.6129152309945034,-1.445666642928133]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[-0.4749790243866573,0.29304403968146664,0.71338606911949],"aabb_xy":[[-0.4855465040447563,0.2824990095684581],[-0.4644115447285583,0.3035890697944752]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.23820667104027932,-0.27253795173115414,0.71338606911949],"aabb_xy":[[-0.25135791701156873,-0.29753795148784073],[-0.22505542506899004,-0.24753795197446765]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[-0.38486082066584276,0.3185766428526229,0.71338606911949],"aabb_xy":[[-0.409860819937805,0.30223127925646054],[-0.3598608213938804,0.3349220064487852]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[0.7013050256592184,-1.8239813390591546,0.71338606911949],"aabb_xy":[[0.6936807575690401,-1.8316145625956988],[0.7089292937493966,-1.8163481155226113]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.01684148053448642,-2.102440431049355,0.71338606911949],"aabb_xy":[[-0.02483497032976845,-2.1104385629898306],[-0.00884799073920439,-2.0944422991088794]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[0.47361146550816624,-1.0132932990266132,0.71338606911949],"aabb_xy":[[0.4696975923127437,-1.02204231443317],[0.47752533870358876,-1.0045442836200564]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.5084736295991028,-0.13394375331493436,0.71338606911949],"aabb_xy":[[-0.5209409877088385,-0.14640907794825786],[-0.49600627148936716,-0.12147842868161085]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.5050248079590796,-1.2697712891415893,0.71338606911949],"aabb_xy":[[0.45002480975733467,-1.310293255768027],[0.5600248061608243,-1.2292493225151517]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[-0.2859552027115819,1.5413819079166227,0.71338606911949],"aabb_xy":[[-0.3357719821764167,1.4913819094323193],[-0.23613842324674716,1.591381906400926]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.4407969329862588,-1.6315137203342862,0.71338606911949],"aabb_xy":[[-0.45170270907382154,-1.7115137167331154],[-0.4298911568986961,-1.551513723935457]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[-0.14240028424337803,-1.4838356310426446,0.71338606911949],"aabb_xy":[[-0.1669139083403839,-1.508100224344681],[-0.11788666014637217,-1.4595710377406081]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.4677766127985767,0.7378217968589715,0.71338606911949],"aabb_xy":[[-0.4740887123349152,0.7320548576057526],[-0.4614645132622383,0.7435887361121902]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[-0.25761838026877715,1.2987305326573595,0.71338606911949],"aabb_xy":[[-0.3077158442498507,1.2347305321475477],[-0.20752091628770347,1.3627305331671713]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[-0.4770916124112109,1.384237782262474,0.71338606911949],"aabb_xy":[[-0.48866059315814747,1.3592377821455424],[-0.4655226316642743,1.4092377823794058]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.0678061139433267,0.670974987952504,0.71338606911949],"aabb_xy":[[-0.012193883216248591,0.6594273869946868],[0.14780611110290198,0.6825225889103209]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[-0.184939402201019,0.8972447038170848,0.71338606911949],"aabb_xy":[[-0.19756618948821536,0.8876986301155118],[-0.17231261491382266,0.9067907775186576]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[0.3111758231236328,0.8375694123968769,0.71338606911949],"aabb_xy":[[0.2992430887618047,0.8251872595890176],[0.32310855748546086,0.8499515652047364]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[-0.08706233732429303,0.1332618200441491,0.71338606911949],"aabb_xy":[[-0.11034417952242437,0.04826181874692103],[-0.06378049512616168,0.21826182134137714]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696584370305998,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9652.png","name":"9652"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9652.png","name":"9652"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5875.png","name":"5875"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4337.png","name":"4337"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4813.png","name":"4813"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":601.8973938071956,"rotation_z_degrees":5.306799356989869,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037631669480676505,0.015373391440966552,-0.007893401678307446]},{"name":"camera_2","offset_m":[0.016899278932558447,-0.016091915374311424,-0.008225432652455567]},{"name":"camera_3","offset_m":[-0.01266725936934246,0.017146477373731834,-0.01135069053014683]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009039267285134846,0.000815992842326307,-0.00044152576073502154],"end_effector_yaw_offset_degrees":0.8670630644111581},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001650124597258453,-0.0004099569354411737,0.0006155160410762357],"end_effector_yaw_offset_degrees":0.82777869205561},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006860981268204274,0.0013875737284157674,0.0018781113193046084],"end_effector_yaw_offset_degrees":0.8073390658700921}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013142164867665372,0.004939567271700865],"position_m":[0.20228578351323345,-0.04086043272829914,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013105630155495537,-0.004856175256864051],"position_m":[0.23611056301554956,-0.368456175256864,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00045524264998506817,0.002461826467293535],"position_m":[0.16884475735001495,0.23256182646729354,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004569288981628037,0.00015005745694932765],"position_m":[0.3292307110183719,0.11785005745694932,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0cdcfe3cf74d4e482304659e63b4d8d65ca48a38e2f72cd7ee6d7396cfa386c2","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9652/tex_ceiling_textures_4813/tex_floor_textures_9934/tex_table_textures_5875/tex_wall_textures_4337","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1256235853798999610,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1256235853798999610,"visual_seed":1256235853798999610,"scene_id":"lab_003","finished_at":"2026-09-04T07:18:38"}
+{"episode_id":"ep_000024","started_at":"2026-09-04T07:18:41","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.6597044349940028,0.03730995214378341,0.71338606911949],"aabb_xy":[[-0.6636649187637371,0.02964208755826281],[-0.6557439512242684,0.04497781672930401]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.22417182770166827,0.6541675373991946,0.71338606911949],"aabb_xy":[[-0.23761835433571157,0.6406976857461034],[-0.2107253010676249,0.6676373890522859]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[0.08934412387352253,-1.9837437629686003,0.71338606911949],"aabb_xy":[[0.08054206856454982,-1.9915550891235292],[0.09814617918249524,-1.975932436813671]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.11402571469388445,0.5259764250954948,0.71338606911949],"aabb_xy":[[-0.16402571605477168,0.47599852052007924],[-0.06402571333299724,0.5759543296709104]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.41533032840161344,-1.6882883774204442,0.71338606911949],"aabb_xy":[[0.41048673364038346,-1.6931400298994284],[0.4201739231628434,-1.6834367249414601]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[-0.4969189769244061,-0.4896492611852832,0.71338606911949],"aabb_xy":[[-0.5095457642116024,-0.49919533488685597],[-0.48429218963720966,-0.48010318748371017]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[0.4893206187450172,1.3237288887002703,0.71338606911949],"aabb_xy":[[0.43932578581707565,1.2737288898050267],[0.5393154516729588,1.3737288875955138]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[0.4006537507375276,-0.7764023360332861,0.71338606911949],"aabb_xy":[[0.31693152523744517,-0.8664023395679821],[0.4843759762376101,-0.6864023324985902]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[-0.15749624002048224,-1.780564028020908,0.71338606911949],"aabb_xy":[[-0.19195871803357,-1.7872277052038308],[-0.12303376200739446,-1.773900350837985]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.22216832978913942,1.278921812838746,0.71338606911949],"aabb_xy":[[-0.3021683271927328,1.198929241640563],[-0.14216833238554596,1.3589143840369287]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[0.02585353958364589,-1.5983294874812153,0.71338606911949],"aabb_xy":[[-0.011646458839754459,-1.6114937014490456],[0.06335353800704624,-1.5851652735133845]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.27037140370897916,1.1457366176300945,0.71338606911949],"aabb_xy":[[0.2353714045790235,1.1399913965544302],[0.3053714028389348,1.1514818387057584]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.13979357156438932,-1.6313553086246704,0.71338606911949],"aabb_xy":[[-0.20979357420097564,-1.6514601736205359],[-0.06979356892780295,-1.6112504436288049]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[0.1646684002426173,0.6621085291936968,0.71338606911949],"aabb_xy":[[0.1527356658807892,0.6497263763858375],[0.17660113460444535,0.6744906820015563]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.02881219145042102,0.6478731848541845,0.71338606911949],"aabb_xy":[[0.012135055457325516,0.6311732608802542],[0.045489327443516525,0.6645731088281147]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[0.6319026761371902,-0.09126401839744291,0.71338606911949],"aabb_xy":[[0.6211297022158223,-0.1262640166164819],[0.6426756500585579,-0.05626402017840393]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[0.3037456603345735,0.9792267555233454,0.71338606911949],"aabb_xy":[[0.23874565937744632,0.9272785435896398],[0.3687456612917007,1.031174967457051]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.297897953175814,-1.7727753742841927,0.71338606911949],"aabb_xy":[[-0.3618979548538113,-1.821292765763507],[-0.23389795149781661,-1.7242579828048785]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.6495763985357677,-1.7121380650727795,0.71338606911949],"aabb_xy":[[-0.6582903675857019,-1.7346380657319673],[-0.6408624294858329,-1.6896380644135909]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[-0.609368796316388,-2.1931161844258926,0.71338606911949],"aabb_xy":[[-0.6164102472671357,-2.200142936163687],[-0.6023273453656405,-2.186089432688098]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.11886955747428485,-1.84533218884151,0.71338606911949],"aabb_xy":[[-0.14719926742282508,-1.849792931035227],[-0.09053984752574462,-1.840871446647793]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.5458327462334766,1.6611652516678501,0.71338606911949],"aabb_xy":[[-0.6108327462677793,1.6144645749875228],[-0.4808327461991738,1.7078659283481774]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[-0.003933236681863739,-1.766398473172798,0.71338606911949],"aabb_xy":[[-0.021433235816230908,-1.7762781002103856],[0.01356676245250343,-1.75651884613521]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[0.3047558450184693,-1.1347679514291595,0.71338606911949],"aabb_xy":[[0.27953500815862964,-1.1599917022820463],[0.329976681878309,-1.1095442005762728]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.2681038608950513,1.5257444047522042,0.71338606911949],"aabb_xy":[[-0.303103862246533,1.5053846687953834],[-0.23310385954356957,1.546104140709025]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[-0.4418457079582871,-2.387191040003498,0.71338606911949],"aabb_xy":[[-0.47834152858556583,-2.4236749824302555],[-0.40534988733100835,-2.3507070975767403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6699621930031193,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3847.png","name":"3847"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3847.png","name":"3847"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2246.png","name":"2246"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7029.png","name":"7029"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1807.png","name":"1807"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2299.png","name":"2299"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":513.449666548248,"rotation_z_degrees":117.83368335854668,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016155750545368101,-0.009581608664449655,-0.005578788348391024]},{"name":"camera_2","offset_m":[0.009798024062548955,0.001652370924921289,-0.002650150401256369]},{"name":"camera_3","offset_m":[-0.015186913558573802,0.0011489537798435971,0.006450227226393639]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00022330325207474324,-0.0004400617875038506,0.001970489530612112],"end_effector_yaw_offset_degrees":-0.5940772063188933},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010643423736755617,-0.001644811267896202,-0.0005160909774310004],"end_effector_yaw_offset_degrees":-0.9843982590035765},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.201745456648603e-05,0.0005953743873015954,0.000690953856537768],"end_effector_yaw_offset_degrees":0.6961964734452419}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036198232579723174,0.0002325624289932944],"position_m":[0.2072198232579723,-0.0455674375710067,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003342418381505434,-0.0023104489413883233],"position_m":[0.23814241838150543,-0.3659104489413883,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016629674861051123,0.00033490053979273217],"position_m":[0.17096296748610512,0.23043490053979274,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003260289319180049,0.001049192505335624],"position_m":[0.33706028931918003,0.11874919250533562,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"864c992e99eb15e0660b6658adf050ce74cb47d2d797c6e4e3c599d430ec2f59","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3847/tex_ceiling_textures_2299/tex_floor_textures_1807/tex_table_textures_2246/tex_wall_textures_7029","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6718479835456880280,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6718479835456880280,"visual_seed":6718479835456880280,"scene_id":"lab_003","finished_at":"2026-09-04T07:21:25"}
+{"episode_id":"ep_000025","started_at":"2026-09-04T07:21:29","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.5136926499694827,0.3994237247929786,0.71338606911949],"aabb_xy":[[0.49935822484331926,0.38736350923843976],[0.5280270750956462,0.41148394034751745]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[0.06588968523178684,0.9011688814328931,0.71338606911949],"aabb_xy":[[0.0058896846357706645,0.8463564088876696],[0.12588968582780302,0.9559813539781166]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[-0.5949931689145351,-0.7805998829295953,0.71338606911949],"aabb_xy":[[-0.5999491890994164,-0.803099883131717],[-0.5900371487296541,-0.7580998827274738]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[-0.11234356383825861,0.20373356087971484,0.71338606911949],"aabb_xy":[[-0.14984356418648634,0.19194216529863126],[-0.07484356349003082,0.21552495646079836]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[0.264462733575768,-2.279603077585005,0.71338606911949],"aabb_xy":[[0.2309835663147271,-2.313082190956112],[0.297941900836809,-2.246123964213898]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[-0.6339204660176383,-0.31407638638354785,0.71338606911949],"aabb_xy":[[-0.6528048497861485,-0.33296231116390057],[-0.6150360822491281,-0.295190461603195]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.3834398846896998,1.2603187031161354,0.71338606911949],"aabb_xy":[[0.36593988541161293,1.2429806030497896],[0.4009398839677867,1.2776568031824815]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[-0.3648714478837877,-0.28399287377598137,0.71338606911949],"aabb_xy":[[-0.40237144838114597,-0.2879615573240998],[-0.3273714473864295,-0.28002419022786296]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[-0.07648671589512823,-2.1545270949977366,0.71338606911949],"aabb_xy":[[-0.14648671802655777,-2.177289060623432],[-0.006486713763698679,-2.1317651293720403]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[0.4443337386713595,-1.6384838376275475,0.71338606911949],"aabb_xy":[[0.4265402317364431,-1.656283583223345],[0.462127245606276,-1.6206840920317496]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.5080180996120276,-2.0605779830012336,0.71338606911949],"aabb_xy":[[0.49980355449634345,-2.0692545732988745],[0.5162326447277114,-2.051901392703592]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.11107260520940931,0.5954884599901775,0.71338606911949],"aabb_xy":[[0.1034483371192311,0.5878552364536338],[0.11869687329958759,0.6031216835267212]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.131493910036369,0.3134282701845308,0.71338606911949],"aabb_xy":[[-0.16712306593632875,0.2777956034276778],[-0.09586475413640927,0.3490609369413837]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.04264339614891155,-2.470165518513273,0.71338606911949],"aabb_xy":[[-0.00012331073050864116,-2.5341655219350754],[0.08541010302833174,-2.4061655150914705]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[0.1422490338463921,-1.9319880248469259,0.71338606911949],"aabb_xy":[[0.10474903318181338,-1.9476750828471479],[0.17974903451097077,-1.9163009668467035]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[-0.2360952722443927,1.4668562521066648,0.71338606911949],"aabb_xy":[[-0.24017343015144244,1.4627752718584017],[-0.23201711433734296,1.4709372323549283]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.207191443349647,0.7068185997302403,0.71338606911949],"aabb_xy":[[0.19635096512313208,0.6896323184395914],[0.21803192157616189,0.724004881020889]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[0.16347282615648762,1.6827329771305162,0.71338606911949],"aabb_xy":[[0.15060092265554748,1.60273297671668],[0.17634472965742776,1.7627329775443523]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.5278968392794758,0.8938447278769694,0.71338606911949],"aabb_xy":[[-0.592896840236603,0.8418965159432639],[-0.4628968383223487,0.945792939810675]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.33260358905694676,-0.8679088889043494,0.71338606911949],"aabb_xy":[[0.25260359189737147,-0.8794564898621663],[0.41260358621652204,-0.8563612879465322]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[0.5784035904652973,-0.7127869057425922,0.71338606911949],"aabb_xy":[[0.541608957340391,-0.7496927808391745],[0.6151982235902036,-0.6758810306460099]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.2817481845216305,-1.5232907402517588,0.71338606911949],"aabb_xy":[[-0.3393786534089013,-1.583290739178469],[-0.22411771563435956,-1.463290741325048]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[-0.4931349350989703,1.1541701246205425,0.71338606911949],"aabb_xy":[[-0.5086907045092355,1.1386196913761353],[-0.47757916568870507,1.1697205578649497]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[0.48708029839696243,-0.9152588132577013,0.71338606911949],"aabb_xy":[[0.4658022902534901,-0.9802588155837743],[0.5083583065404347,-0.8502588109316281]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.44685553235727604,0.38157290965374635,0.71338606911949],"aabb_xy":[[-0.47682308926710165,0.35157290935586055],[-0.4168879754474503,0.41157290995163204]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_25","position":[0.2737200400018316,0.9897935592256659,0.71338606911949],"aabb_xy":[[0.1937200378390691,0.9098383755995224],[0.3537200421645941,1.0697487428518095]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_26","position":[-0.4796150804280721,-0.37192137544559767,0.71338606911949],"aabb_xy":[[-0.49002663910855576,-0.3772671087814961],[-0.46920352174758834,-0.3665756421096991]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[0.35722458883616426,0.732260368974563,0.71338606911949],"aabb_xy":[[0.34844336168892803,0.723480621686033],[0.3660058159834005,0.7410401162630933]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_28","position":[0.2696930208221696,1.416822496209433,0.71338606911949],"aabb_xy":[[0.2056930215280014,1.3528363558405787],[0.33369302011633784,1.480808636578287]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_29","position":[-0.47362571654969654,-2.5044253650043875,0.71338606911949],"aabb_xy":[[-0.4870722431837398,-2.5178952166574784],[-0.46017918991565315,-2.4909555133512957]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_30","position":[0.667375097147932,-0.9076594718624234,0.71338606911949],"aabb_xy":[[0.6580814789107813,-0.9451594703505573],[0.6766687153850824,-0.8701594733742894]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_31","position":[0.5936734266643453,1.3433856524257037,0.71338606911949],"aabb_xy":[[0.5435759626832717,1.2793856519158917],[0.6437708906454189,1.4073856529355153]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_32","position":[0.08163682952551254,1.2501399389145358,0.71338606911949],"aabb_xy":[[0.033830661911743894,1.1851399362074766],[0.1294429971392812,1.3151399416215945]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6674880905398123,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3994.png","name":"3994"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3994.png","name":"3994"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6111.png","name":"6111"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9397.png","name":"9397"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1106.png","name":"1106"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4963.png","name":"4963"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":672.872096435211,"rotation_z_degrees":152.01634438603898,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01930169147153548,-0.019541011477300446,-0.007728722043598016]},{"name":"camera_2","offset_m":[-0.011815117317531869,-0.008030779659684427,-0.011097935823032127]},{"name":"camera_3","offset_m":[0.018638591000153398,-0.0042885592861022954,0.007154306759889779]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001280046792010298,7.929374559214079e-05,0.0016377475174258324],"end_effector_yaw_offset_degrees":0.22242247516599845},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001053639270553052,0.0011626589018836498,-0.0018754940421800283],"end_effector_yaw_offset_degrees":0.7338663837898372},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001867691786676849,0.0009412522804350906,-0.0017879847820421637],"end_effector_yaw_offset_degrees":0.56352960532892}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015349168542755465,-0.004627505673231818],"position_m":[0.20206508314572447,-0.050427505673231815,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009509155060609831,-0.004342794705425953],"position_m":[0.233849084493939,-0.36794279470542596,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030391927738067934,-0.0018300370623216388],"position_m":[0.1723391927738068,0.22826996293767837,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009836471454565555,-9.701486639983412e-05],"position_m":[0.33478364714545655,0.11760298513360017,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e2ceed1aa58b075ebfcf75a7faebf05f8a6d9518c0df5e63535940a9920df87","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3994/tex_ceiling_textures_4963/tex_floor_textures_1106/tex_table_textures_6111/tex_wall_textures_9397","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3199746244459196826,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3199746244459196826,"visual_seed":3199746244459196826,"scene_id":"lab_003","finished_at":"2026-09-04T07:24:19"}
+{"episode_id":"ep_000026","started_at":"2026-09-04T07:24:22","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.32107654310019296,-2.0736118554164458,0.71338606911949],"aabb_xy":[[-0.3553928202748109,-2.1236118553896235],[-0.286760265925575,-2.023611855443268]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[-0.15592428891039145,-1.2533107443600604,0.71338606911949],"aabb_xy":[[-0.22092428986751866,-1.305258956293766],[-0.09092428795326425,-1.2013625324263548]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.6115808387909429,0.8503143067909842,0.71338606911949],"aabb_xy":[[0.6045405288574061,0.7703143073913129],[0.61862114872448,0.9303143061906557]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[-0.10010075625131631,-1.754717667317324,0.71338606911949],"aabb_xy":[[-0.16010075789423817,-1.8067178166092681],[-0.04010075460839446,-1.7027175180253797]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.17607085604150552,0.315436381209965,0.71338606911949],"aabb_xy":[[-0.26607085576467965,0.2923630286747851],[-0.08607085631833132,0.33850973374514476]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.07252678929806067,1.0010871567061956,0.71338606911949],"aabb_xy":[[-0.07785930395267365,0.9957628284609601],[-0.06719427464344768,1.0064114849514312]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.0852442722934762,-0.8802589211666638,0.71338606911949],"aabb_xy":[[-0.1198353551475214,-0.9452589214516948],[-0.05065318943943097,-0.8152589208816327]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.07340314887264032,-1.0705048003160451,0.71338606911949],"aabb_xy":[[-0.12340315053413507,-1.1205032425717476],[-0.023403147211145555,-1.0205063580603422]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[-0.10147307742614031,-0.26006378827945964,0.71338606911949],"aabb_xy":[[-0.10946656722142235,-0.26806192021993536],[-0.09347958763085829,-0.25206565633898403]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.19475544733160965,-2.462833421864897,0.71338606911949],"aabb_xy":[[-0.2587554446172583,-2.5043401408177406],[-0.130755450045961,-2.4213267029120527]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.4998321041049564,1.6693858945457776,0.71338606911949],"aabb_xy":[[-0.5638321063253633,1.625012810420489],[-0.4358321018845493,1.7137589786710656]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.549250153456323,1.297292538571421,0.71338606911949],"aabb_xy":[[-0.5742501526219561,1.2903402928660643],[-0.5242501542906899,1.3042447842767775]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.6047088479083127,-1.08235327226503,0.71338606911949],"aabb_xy":[[0.5915576019370234,-1.1073532720217165],[0.6178600938796022,-1.0573532725083434]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.15459257705761742,-0.37122987167298627,0.71338606911949],"aabb_xy":[[-0.1895925753683129,-0.3789448865965319],[-0.119592578746922,-0.3635148567494406]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.6439321371255088,-1.8532988775720087,0.71338606911949],"aabb_xy":[[-0.6521466822411925,-1.8619754678696496],[-0.6357175920098246,-1.844622287274367]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.09656945257893312,0.6758508589084857,0.71338606911949],"aabb_xy":[[-0.1426545438336646,0.6118508616559306],[-0.050484361324201664,0.7398508561610408]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[0.16747821250100192,-2.4291353290183,0.71338606911949],"aabb_xy":[[0.08747821534142664,-2.4406829299761172],[0.2474782096605772,-2.417587728060483]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[-0.4850247780079592,-2.381219011887115,0.71338606911949],"aabb_xy":[[-0.5500247761638782,-2.4075152564370277],[-0.4200247798520401,-2.3549227673372033]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[-0.07093185473368546,1.45725590413717,0.71338606911949],"aabb_xy":[[-0.08034932930354823,1.447839726999451],[-0.06151438016382273,1.466672081274889]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[-0.539530056724324,1.12666848859608,0.71338606911949],"aabb_xy":[[-0.5471543248145023,1.1190352650595363],[-0.5319057886341458,1.1343017121326238]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.5988429117760035,1.246289951139755,0.71338606911949],"aabb_xy":[[0.5088429094419845,1.1688075965546423],[0.6888429141100226,1.3237723057248676]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[0.15497501541916803,-1.360590882140873,0.71338606911949],"aabb_xy":[[0.09097501899184615,-1.4077605059629696],[0.21897501184648996,-1.3134212583187768]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[0.4021351732697458,-0.9609271524479723,0.71338606911949],"aabb_xy":[[0.36111722988337486,-1.0109271530789297],[0.4431531166561166,-0.9109271518170149]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[-0.4206338964065222,0.30463439629297184,0.71338606911949],"aabb_xy":[[-0.458133897591315,0.3002161735969112],[-0.3831338952217294,0.30905261898903225]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6637316980785036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6656.png","name":"6656"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6656.png","name":"6656"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7963.png","name":"7963"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6247.png","name":"6247"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3302.png","name":"3302"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9970.png","name":"9970"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":753.1570705961472,"rotation_z_degrees":262.53676742750105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012577989329530973,-0.006134254648701508,0.012392428748887057]},{"name":"camera_2","offset_m":[-0.011128310699354929,0.011906809852736313,0.003952578672115674]},{"name":"camera_3","offset_m":[-0.013526349685437795,-0.006965982159206479,0.013278572804213327]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009513860237623213,0.0017867058056901864,0.00037211558719080825],"end_effector_yaw_offset_degrees":0.5758571518401461},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008884934521682629,-0.00043691444400373574,0.0010357444536787256],"end_effector_yaw_offset_degrees":0.5658228050308078},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006783515271445908,0.0019420163422073132,0.0018716334553614024],"end_effector_yaw_offset_degrees":-0.05169129180129861}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001879853839367114,0.003717519800693931],"position_m":[0.20547985383936712,-0.04208248019930607,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002863922100684898,-0.0004171376968357277],"position_m":[0.2319360778993151,-0.3640171376968357,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000985493437280347,-0.003043356952290567],"position_m":[0.16831450656271965,0.22705664304770942,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004007328266240842,0.0014970042348592429],"position_m":[0.32979267173375915,0.11919700423485924,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5089db57cda271a977c064780cc9270c3496ec7ec14ba73adc6611aa3f1f99f4","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6656/tex_ceiling_textures_9970/tex_floor_textures_3302/tex_table_textures_7963/tex_wall_textures_6247","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8395718993244972902,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8395718993244972902,"visual_seed":8395718993244972902,"scene_id":"lab_003","finished_at":"2026-09-04T07:27:14"}
+{"episode_id":"ep_000027","started_at":"2026-09-04T07:27:18","dimensions":{"distractor":{"count":21,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[-0.4565292650273203,-1.2767374426581217,0.71338606911949],"aabb_xy":[[-0.494029266542952,-1.2879642156742668],[-0.41902926351168857,-1.2655106696419767]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.18746210420698883,-0.9377035493053298,0.71338606911949],"aabb_xy":[[0.16528957723033802,-0.9598792164614529],[0.20963463118363967,-0.9155278821492066]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[-0.47877998289969814,-0.1591200942291917,0.71338606911949],"aabb_xy":[[-0.5437799807813459,-0.2102437579357326],[-0.4137799850180504,-0.10799643052265084]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.4679899824169165,0.6971765764938032,0.71338606911949],"aabb_xy":[[-0.5229899806186613,0.6566546098673657],[-0.4129899842151717,0.7376985431202409]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.5356745293120829,1.7396834713316616,0.71338606911949],"aabb_xy":[[-0.54378818398546,1.7315776548776323],[-0.5275608746387058,1.7477892877856904]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[0.37426207650195864,-1.5928083810088192,0.71338606911949],"aabb_xy":[[0.3492620769502201,-1.6029508648739539],[0.39926207605369707,-1.5826658971436844]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[0.631337910962346,1.201975733702814,0.71338606911949],"aabb_xy":[[0.5713379093194241,1.1499755844108697],[0.6913379126052678,1.253975882994758]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[0.5375501710758435,-0.9615194095674702,0.71338606911949],"aabb_xy":[[0.5288522087851282,-0.9736443838749449],[0.5462481333665588,-0.9493944352599955]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[-0.07077188569425186,0.7947075649361848,0.71338606911949],"aabb_xy":[[-0.12076499780344377,0.7447075642619893],[-0.020778773585059977,0.8447075656103806]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[0.6531658719457851,-0.313447332835493,0.71338606911949],"aabb_xy":[[0.6188495947711672,-0.3634473328086707],[0.6874821491204031,-0.26344733286231525]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[-0.46048760671319416,-1.4755437345968923,0.71338606911949],"aabb_xy":[[-0.515480818050331,-1.5305437349356863],[-0.40549439537605747,-1.4205437342580989]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.4906860539951001,1.0269764336350953,0.71338606911949],"aabb_xy":[[-0.4970998676382851,1.0205666133874267],[-0.48427224035191524,1.0333862538827634]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[-0.03924173518975882,-1.2172932992993875,0.71338606911949],"aabb_xy":[[-0.1032417315853319,-1.2812565877181208],[0.024758261205814265,-1.1533300108806537]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[0.47355929008203224,-1.1772808757617892,0.71338606911949],"aabb_xy":[[0.4674646621939139,-1.185850270313458],[0.47965391797015056,-1.1687114812101205]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.5955538960531754,-1.3598152845942622,0.71338606911949],"aabb_xy":[[-0.604847514290326,-1.397315283082396],[-0.5862602778160249,-1.3223152861061283]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[-0.05079991983475807,-0.9601618684804556,0.71338606911949],"aabb_xy":[[-0.06267200284625918,-1.0451618681741062],[-0.03892783682325695,-0.8751618687868054]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.5306203329727128,-1.0699421063339358,0.71338606911949],"aabb_xy":[[-0.5535360458577627,-1.0928464034703593],[-0.5077046200876629,-1.0470378091975123]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.4057488546549486,-1.446685828795233,0.71338606911949],"aabb_xy":[[0.3157488560604787,-1.4629364151086546],[0.4957488532494186,-1.4304352424818125]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[0.03141126923732618,-2.4239321429579133,0.71338606911949],"aabb_xy":[[-0.03358873340046731,-2.4754117416573598],[0.09641127187511966,-2.372452544258466]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.12449703142055857,-2.102254571001861,0.71338606911949],"aabb_xy":[[-0.1884970336409656,-2.146627655127149],[-0.06049702920015153,-2.0578814868765725]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[0.6833993627052735,-1.131479965156054,0.71338606911949],"aabb_xy":[[0.6458993627615072,-1.1397730551908907],[0.72089936264904,-1.1231868751212175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641523999220008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2311.png","name":"2311"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2311.png","name":"2311"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4854.png","name":"4854"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2167.png","name":"2167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4254.png","name":"4254"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/625.png","name":"625"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":644.8609082689507,"rotation_z_degrees":133.92493363595116,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017921809072860815,-0.017750018681884284,0.015425432943143556]},{"name":"camera_2","offset_m":[-0.008006760012575862,0.016974030005147845,0.0007433782170508246]},{"name":"camera_3","offset_m":[-0.013108110963714403,-0.0010667994685072853,0.017945823139432184]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008283411071203948,0.0014265419663253916,-0.00156544768082424],"end_effector_yaw_offset_degrees":0.948438375363061},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001018444056677176,0.0019563598541150595,-0.0012705189973347686],"end_effector_yaw_offset_degrees":-0.43429081204323317},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007700077743226705,-0.0015214983526730067,0.00040223577717901204],"end_effector_yaw_offset_degrees":-0.010359470935211945}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003831860115055984,0.0024018045757058706],"position_m":[0.207431860115056,-0.04339819542429413,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026090262017793666,-0.0007955463710836832],"position_m":[0.23219097379822065,-0.3643955463710837,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0046654119832011745,0.001813135444714416],"position_m":[0.16463458801679884,0.23191313544471442,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001140205389121878,-0.0016491090487499261],"position_m":[0.33494020538912184,0.11605089095125007,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"393d4a2a7a5482b189049d3607aebfe5888b3633616cef754e63e7679b8bf5dc","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2311/tex_ceiling_textures_625/tex_floor_textures_4254/tex_table_textures_4854/tex_wall_textures_2167","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1346663650609900421,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1346663650609900421,"visual_seed":1346663650609900421,"scene_id":"lab_003","finished_at":"2026-09-04T07:30:10"}
+{"episode_id":"ep_000028","started_at":"2026-09-04T07:30:13","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.6366632186531003,-0.5918493307718411,0.71338606911949],"aabb_xy":[[-0.6535739510894418,-0.6053215363644556],[-0.6197524862167583,-0.5783771251792266]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.15100956416851308,1.4594684422326254,0.71338606911949],"aabb_xy":[[-0.21500956487198247,1.4134500597597046],[-0.08700956346504375,1.5054868247055468]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.18854399281320178,1.539077173604054,0.71338606911949],"aabb_xy":[[0.09854399631232998,1.4931655311855956],[0.2785439893140734,1.584988816022512]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[-0.5303349384313627,0.6372088287192526,0.71338606911949],"aabb_xy":[[-0.5351785331925927,0.6323571762402685],[-0.5254913436701327,0.6420604811982368]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[0.5585861670171437,1.169805795477088,0.71338606911949],"aabb_xy":[[0.5492925487799931,1.132305796988954],[0.5678797852542943,1.2073057939652219]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.34059812625058306,1.2661799265727254,0.71338606911949],"aabb_xy":[[0.3311806516807203,1.2567637494350063],[0.3500156008204458,1.2755961037104444]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[0.2049300465113486,-1.902710432775411,0.71338606911949],"aabb_xy":[[0.19558303892905338,-1.9170140549930554],[0.21427705409364384,-1.8884068105577674]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.19902809989081766,-0.8443551453753613,0.71338606911949],"aabb_xy":[[-0.24850852110477645,-0.9083551432882131],[-0.14954767867685886,-0.7803551474625094]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.10739729292326894,1.2652971868556033,0.71338606911949],"aabb_xy":[[0.06989729225869022,1.2496101288553807],[0.14489729358784761,1.280984244855825]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[0.6535506993640443,-0.8394409526456301,0.71338606911949],"aabb_xy":[[0.6448367303141097,-0.8619409533048182],[0.6622646684139787,-0.8169409519864418]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.327602255632726,-1.7239771181299353,0.71338606911949],"aabb_xy":[[-0.3826022538344708,-1.7644990847563726],[-0.2726022574309811,-1.6834551515034974]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.593290933040979,0.7348853349168651,0.71338606911949],"aabb_xy":[[-0.6157909332844944,0.7226807002570932],[-0.5707909327974636,0.7470899695766371]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[-0.25671289423639304,-0.31999862845404925,0.71338606911949],"aabb_xy":[[-0.26015357047645027,-0.3238600614284137],[-0.2532722179963359,-0.3161371954796848]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[-0.5101901629225114,-2.5193457149369567,0.71338606911949],"aabb_xy":[[-0.5182164335531374,-2.528097209914309],[-0.5021638922918854,-2.5105942199596036]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.15928821964750528,-0.026071955240848155,0.71338606911949],"aabb_xy":[[-0.18178821917121266,-0.04856790269146893],[-0.13678822012379785,-0.0035760077902273753]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[-0.19721758411799162,1.7878984483247282,0.71338606911949],"aabb_xy":[[-0.21155200924415507,1.7758382327701894],[-0.18288315899182817,1.799958663879267]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[0.5282396186860434,-0.1676974671948921,0.71338606911949],"aabb_xy":[[0.4642396164656364,-0.21207055132018038],[0.5922396209064504,-0.1233243830696038]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[0.43051274704954823,-1.7048371663494257,0.71338606911949],"aabb_xy":[[0.3753875414199574,-1.7648371677907126],[0.48563795267913895,-1.6448371649081384]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[0.2096432532447785,-2.5530872715420063,0.71338606911949],"aabb_xy":[[0.17464325411482282,-2.5588324926176704],[0.24464325237473414,-2.547342050466342]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.5658885833989413,-0.05358050965675254,0.71338606911949],"aabb_xy":[[-0.5750484623428179,-0.06011172770028955],[-0.5567287044550647,-0.04704929161321553]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.07018109952824714,0.6515626854291376,0.71338606911949],"aabb_xy":[[-0.13417679692334372,0.5875626871284289],[-0.0061854021331505665,0.7155626837298462]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[0.005528052621062818,-0.7300958246097922,0.71338606911949],"aabb_xy":[[-0.03964326522710616,-0.7940958217543307],[0.0506993704692318,-0.6660958274652538]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[-0.2460619788905452,1.0367744376788148,0.71338606911949],"aabb_xy":[[-0.25691358513942075,1.0259151469511638],[-0.23521037264166958,1.0476337284064658]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[0.5281084618766345,-0.34286319069589455,0.71338606911949],"aabb_xy":[[0.52277088621063,-0.36786319162503434],[0.5334460375426391,-0.31786318976675476]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[0.5245367468278621,0.8140575185744057,0.71338606911949],"aabb_xy":[[0.4823523326670315,0.7500575182971945],[0.566721160988693,0.8780575188516169]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[0.24400453529026755,0.6546986165298962,0.71338606911949],"aabb_xy":[[0.15400453669579767,0.6384480302164752],[0.33400453388473755,0.6709492028433173]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[0.3120544136336061,-1.2598275188567187,0.71338606911949],"aabb_xy":[[0.26207017792542886,-1.3098275176702143],[0.3620386493417833,-1.2098275200432231]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[0.4738003768236152,-1.0242314818517022,0.71338606911949],"aabb_xy":[[0.44880037765798203,-1.0311837275570588],[0.49880037598924826,-1.0172792361463456]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[0.44984466707482906,1.4504259561369346,0.71338606911949],"aabb_xy":[[0.39984466842890787,1.400506412477472],[0.49984466572075026,1.5003454997963968]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_29","position":[-0.13590175421336403,-2.528241160559826,0.71338606911949],"aabb_xy":[[-0.18590175378969878,-2.578221739511932],[-0.08590175463702934,-2.47826058160772]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_30","position":[-0.5157438980315239,0.3102594920378916,0.71338606911949],"aabb_xy":[[-0.5231563535729123,0.3044082816162636],[-0.5083314424901354,0.3161107024595195]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_31","position":[0.4297781978037032,-2.2629668212192904,0.71338606911949],"aabb_xy":[[0.42251695023329583,-2.2757538314828],[0.43703944537411066,-2.250179810955781]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663786769058362,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3132.png","name":"3132"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3132.png","name":"3132"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8754.png","name":"8754"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5204.png","name":"5204"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2188.png","name":"2188"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9623.png","name":"9623"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":744.0442651408168,"rotation_z_degrees":315.642635491206,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011901590926069305,-0.0107050626377479,-0.015571749928718143]},{"name":"camera_2","offset_m":[-0.01842981364345987,-0.01469221231373944,0.0062648950704754965]},{"name":"camera_3","offset_m":[0.018248410013802546,0.015080790569422627,0.005040677367623463]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017452238083788046,0.0012731224558822003,0.0010854375663227633],"end_effector_yaw_offset_degrees":0.29174467797809456},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00027778657724196877,0.0007160787732478431,-0.00110921797589966],"end_effector_yaw_offset_degrees":-0.3239461497883296},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009523816175106754,0.001274016988440159,-0.0009241590812400285],"end_effector_yaw_offset_degrees":-0.9413359907923051}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00355929032462158,-0.0006749239906942619],"position_m":[0.20004070967537843,-0.046474923990694264,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003484482938754906,-0.0014616469343174477],"position_m":[0.2313155170612451,-0.3650616469343174,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00472395763719904,0.0044681615888444775],"position_m":[0.17402395763719905,0.23456816158884447,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00017557634069938384,-0.002429151713722847],"position_m":[0.33397557634069935,0.11527084828627715,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5baf7dfb56f893ae335ba9ae1d4b69d02fb06bbb2cebf273961b585a8d5c8d37","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3132/tex_ceiling_textures_9623/tex_floor_textures_2188/tex_table_textures_8754/tex_wall_textures_5204","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":965682831355114661,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":965682831355114661,"visual_seed":965682831355114661,"scene_id":"lab_003","finished_at":"2026-09-04T07:32:58"}
+{"episode_id":"ep_000029","started_at":"2026-09-04T07:33:02","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[-0.20780388078940532,1.5696731784948077,0.71338606911949],"aabb_xy":[[-0.22040657992648177,1.5570777822699422],[-0.19520118165232886,1.5822685747196732]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[-0.5930055886905286,1.5181979982416967,0.71338606911949],"aabb_xy":[[-0.6780055873826031,1.4862121348468178],[-0.5080055899984538,1.5501838616365755]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[-0.5829463914589277,-1.3577268473317945,0.71338606911949],"aabb_xy":[[-0.6469463906286976,-1.404493534450757],[-0.5189463922891577,-1.310960160212832]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.22756431881846406,-2.495117026486962,0.71338606911949],"aabb_xy":[[-0.2915643195219334,-2.541135408959883],[-0.16356431811499472,-2.449098644014041]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.5586087808469488,-0.38685616326315886,0.71338606911949],"aabb_xy":[[-0.5961087823625804,-0.3980829362793039],[-0.5211087793313169,-0.3756293902470138]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.3221475137580525,-0.5574026384331376,0.71338606911949],"aabb_xy":[[-0.33149452134034774,-0.5717062606507817],[-0.3128005061757573,-0.5430990162154936]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[-0.407715634069538,0.5870136528341008,0.71338606911949],"aabb_xy":[[-0.4627088454066748,0.5320136524953073],[-0.35272242273240123,0.6420136531728945]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.48180753521587927,-2.569007202096407,0.71338606911949],"aabb_xy":[[0.4468075353198604,-2.5773814376083473],[0.5168075351118981,-2.560632966584467]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.016057628516580547,-1.4839113449511647,0.71338606911949],"aabb_xy":[[-0.04470696087699677,-1.5125569042282403],[0.012591703843835681,-1.4552657856740887]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[-0.18135873575494865,-1.256487555249778,0.71338606911949],"aabb_xy":[[-0.19922784350940412,-1.270320463226989],[-0.16348962800049313,-1.242654647272567]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[0.7020623556849785,0.7212061177054627,0.71338606911949],"aabb_xy":[[0.6924307194645488,0.7115688049257538],[0.711693991905408,0.7308434304851716]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.2660992772483815,1.7154506663759546,0.71338606911949],"aabb_xy":[[-0.30359927582400226,1.7027143707123962],[-0.22859927867276067,1.728186962039512]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[-0.2880405321903198,1.1338029189253724,0.71338606911949],"aabb_xy":[[-0.2988921384391954,1.1229436281977214],[-0.2771889259414442,1.1446622096530235]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[0.12373584843866814,1.1596576410811612,0.71338606911949],"aabb_xy":[[0.07765075718393669,1.095657643828606],[0.16982093969339962,1.2236576383337163]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.06301838749801891,-1.9393998311797904,0.71338606911949],"aabb_xy":[[0.05497502757206374,-2.024399832275157],[0.07106174742397409,-1.8543998300844238]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[0.6201020570399436,1.0645673638723876,0.71338606911949],"aabb_xy":[[0.5988240488964713,0.9995673615463143],[0.6413800651834158,1.1295673661984604]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[0.5310219021290477,0.38352831307541946,0.71338606911949],"aabb_xy":[[0.4410218997950286,0.3060459584903068],[0.6210219044630667,0.4610106676605321]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[0.5523455587617276,-1.7105077624614509,0.71338606911949],"aabb_xy":[[0.4626584824536122,-1.8005077627159012],[0.6420326350698431,-1.620507762207]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.1081826944576445,-0.8093413881979321,0.71338606911949],"aabb_xy":[[-0.15036710861847524,-0.8733413884751433],[-0.06599828029681377,-0.7453413879207209]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[-0.2905279304663824,-1.638020535027898,0.71338606911949],"aabb_xy":[[-0.340522763394324,-1.6880205339231416],[-0.24053309753844082,-1.5880205361326545]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[0.24632397753612434,-0.8791095905089141,0.71338606911949],"aabb_xy":[[0.21254841834543134,-0.893148085722079],[0.2800995367268173,-0.865071095295749]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[0.5552222450621018,-0.6624320744024264,0.71338606911949],"aabb_xy":[[0.49122224301236983,-0.7025265574917343],[0.6192222471118338,-0.6223375913131184]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[-0.5623276281795526,-1.6199141760888778,0.71338606911949],"aabb_xy":[[-0.6273276263354717,-1.64621042063879],[-0.49732763002363356,-1.5936179315389656]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[-0.28866396243075615,-0.6572665952554715,0.71338606911949],"aabb_xy":[[-0.310836489407407,-0.6794422624115947],[-0.2664914354541053,-0.6350909280993483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662192089518924,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9903.png","name":"9903"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9903.png","name":"9903"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/644.png","name":"644"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6565.png","name":"6565"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2307.png","name":"2307"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4205.png","name":"4205"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":543.654553697191,"rotation_z_degrees":126.92390498645398,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016477312146471454,0.0004879120144431516,0.009485025528990353]},{"name":"camera_2","offset_m":[0.009054761174563573,0.017762653343247146,-0.019357930576888917]},{"name":"camera_3","offset_m":[0.011043557009809076,-0.008436687524022669,0.01707239247780876]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007251320104923842,-0.0008197716810936324,0.0012994155720829166],"end_effector_yaw_offset_degrees":-0.0011815627094884373},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00033566942680357103,-0.0018526555245434535,0.000653160094430537],"end_effector_yaw_offset_degrees":-0.08146520223208986},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019432476377171978,0.0010068466721998223,-0.001683765504835313],"end_effector_yaw_offset_degrees":-0.3165070220764168}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015182168088351553,-0.004452415994987448],"position_m":[0.20511821680883516,-0.05025241599498745,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003791689897739298,0.0009761491485742258],"position_m":[0.23100831010226072,-0.36262385085142573,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004040843723098507,-0.00303914160480353],"position_m":[0.1652591562769015,0.22706085839519646,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010488686369806354,-0.004260900840763534],"position_m":[0.3348488686369806,0.11343909915923646,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2a1429d182174fdf43693576ed5d1188a2fb463c789251aa37006283a9a4073e","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9903/tex_ceiling_textures_4205/tex_floor_textures_2307/tex_table_textures_644/tex_wall_textures_6565","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3552423774090205628,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3552423774090205628,"visual_seed":3552423774090205628,"scene_id":"lab_003","finished_at":"2026-09-04T07:35:52"}
+{"episode_id":"ep_000030","started_at":"2026-09-04T07:35:56","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[-0.6043823146081895,-0.38216428729542606,0.71338606911949],"aabb_xy":[[-0.6293823138801518,-0.39850965089158835],[-0.5793823153362272,-0.36581892369926367]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.2403487980717942,0.8104692804711955,0.71338606911949],"aabb_xy":[[0.23165083578107892,0.7983443061637209],[0.2490467603625095,0.8225942547786703]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.34045224052429984,0.37783181132148247,0.71338606911949],"aabb_xy":[[-0.3571293765173953,0.3611318873475522],[-0.3237751045312043,0.39453173529541274]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.1324476757226115,-0.5233791355940669,0.71338606911949],"aabb_xy":[[-0.15494681144883848,-0.5458791363723298],[-0.10994853999638454,-0.5008791348158038]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[0.5988377589254741,1.3499554803653493,0.71338606911949],"aabb_xy":[[0.5863704008157385,1.3374901557320258],[0.6113051170352098,1.3624208049986728]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[-0.47667149998830005,-2.069600000037691,0.71338606911949],"aabb_xy":[[-0.5266714986342211,-2.1195195436971535],[-0.4266715013423788,-2.0196804563782287]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[0.2899910136564604,-0.8454052264126932,0.71338606911949],"aabb_xy":[[0.2399910140801257,-0.8953858053647994],[0.3399910132327951,-0.7954246474605875]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.022549230175327506,0.831345571817776,0.71338606911949],"aabb_xy":[[-0.05745077308251545,0.7513490640257919],[0.10254923343317046,0.9113420796097599]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[0.674064557255992,0.7081785135078618,0.71338606911949],"aabb_xy":[[0.6589622557949738,0.6930769918767998],[0.68916685871701,0.7232800351389235]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.4774965818811301,-1.601780759520335,0.71338606911949],"aabb_xy":[[0.4599966484471467,-1.6192807594405696],[0.49499651531511346,-1.5842807596001005]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[-0.15206614268134366,1.1485751536100683,0.71338606911949],"aabb_xy":[[-0.20706162050200305,1.0935751521761612],[-0.09707066486068427,1.203575155043975]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.2705145255182465,1.5092816880678428,0.71338606911949],"aabb_xy":[[0.21552131418110976,1.4542816877290494],[0.32550773685538326,1.5642816884066368]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.07124731000824602,0.2044199230819599,0.71338606911949],"aabb_xy":[[-0.10687646590820576,0.1687872563251069],[-0.03561815410828628,0.2400525898388128]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.07478929138371648,0.5225321657332644,0.71338606911949],"aabb_xy":[[-0.09507359410711523,0.5022495405905555],[-0.054504988660317714,0.5428147908759732]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.6655309510894281,-2.3514698534243528,0.71338606911949],"aabb_xy":[[0.6618276897602889,-2.3551718717330705],[0.6692342124185667,-2.347767835115635]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[0.4264201985187348,-2.4727973533446415,0.71338606911949],"aabb_xy":[[0.3624202020914129,-2.519966977166738],[0.4904201949460567,-2.425627729522545]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[0.3373474191424759,1.7999675966296071,0.71338606911949],"aabb_xy":[[0.3191415954812282,1.7889421960476157],[0.3555532428037236,1.810992997211599]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[-0.45839545140325955,0.8590451539095572,0.71338606911949],"aabb_xy":[[-0.48090914322671674,0.7890451533085495],[-0.43588175957980235,0.9290451545105646]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.07085642772242773,1.3768070445824354,0.71338606911949],"aabb_xy":[[0.006856430436779082,1.3353003256295914],[0.13485642500807637,1.4183137635352794]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.14903494089742209,-2.2327230483626876,0.71338606911949],"aabb_xy":[[-0.1709436230367731,-2.254623715182778],[-0.12712625875807101,-2.2108223815425965]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[0.4787271729611442,1.013661976651612,0.71338606911949],"aabb_xy":[[0.4508821361805371,0.9828774779133005],[0.5065722097417513,1.0444464753899239]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[0.4188449038391753,-0.4002149382710938,0.71338606911949],"aabb_xy":[[0.41326323220504646,-0.4127149380888693],[0.424426575473304,-0.3877149384533183]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.4050700489042205,1.234583257232988,0.71338606911949],"aabb_xy":[[0.3751024919943948,1.2045832569351023],[0.43503760581404616,1.2645832575308737]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[-0.489631391735553,-0.15676426953101696,0.71338606911949],"aabb_xy":[[-0.5070621068145593,-0.17403638419486775],[-0.47220067665654636,-0.13949215486716612]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[-0.026096153653853427,-0.904488646612277,0.71338606911949],"aabb_xy":[[-0.04396526140830892,-0.9183215545894879],[-0.00822704589939793,-0.8906557386350661]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_25","position":[-0.5136420066297249,-0.6589792284744447,0.71338606911949],"aabb_xy":[[-0.563637017589177,-0.7089792275100364],[-0.4636469956702729,-0.608979229438853]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_26","position":[-0.6274344739290179,-1.504194800019704,0.71338606911949],"aabb_xy":[[-0.6726057917771868,-1.5681947971642427],[-0.5822631560808489,-1.4401948028751657]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[0.19832645316181774,-1.4824941378548615,0.71338606911949],"aabb_xy":[[0.188908978591955,-1.4919103149925803],[0.2077439277316805,-1.4730779607171423]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_28","position":[0.45579163226178454,0.256137469639782,0.71338606911949],"aabb_xy":[[0.40579163090089737,0.20615956506436636],[0.5057916336226718,0.3061153742151976]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[-0.3606522434196712,-1.3713722301430777,0.71338606911949],"aabb_xy":[[-0.415652243041417,-1.4263559229305505],[-0.3056522437979253,-1.316388537355605]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_30","position":[-0.17178519521389313,0.5851866732664877,0.71338606911949],"aabb_xy":[[-0.1771227708798977,0.560186672337348],[-0.16644761954788856,0.6101866741956276]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_31","position":[0.20851115329031245,-1.3488750611951486,0.71338606911949],"aabb_xy":[[0.17351115339429357,-1.3572492967070886],[0.24351115318633132,-1.3405008256832085]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_32","position":[-0.34605356304570994,-0.1504280494530641,0.71338606911949],"aabb_xy":[[-0.36988978068631506,-0.24042805026155062],[-0.32221734540510494,-0.06042804864457764]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_33","position":[-0.18756030133305968,-1.8267450522975033,0.71338606911949],"aabb_xy":[[-0.19548358157180803,-1.8492450525355064],[-0.17963702109431137,-1.8042450520594997]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6665841780419578,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6368.png","name":"6368"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6368.png","name":"6368"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9548.png","name":"9548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9440.png","name":"9440"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6000.png","name":"6000"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7559.png","name":"7559"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":738.9209281454798,"rotation_z_degrees":73.8628678509166,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010829215888351541,0.0009931578291450145,-0.01668642020178119]},{"name":"camera_2","offset_m":[0.007182848242060259,-0.015601544771995872,-0.004143770579484042]},{"name":"camera_3","offset_m":[-0.017936691937410515,0.013884554790053277,-0.00877198314517421]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006075142142980597,0.000794015986816591,0.00028697976658863993],"end_effector_yaw_offset_degrees":-0.6308196169796849},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.0640810770967064e-05,-0.0011995132889052091,-0.0011635935548954864],"end_effector_yaw_offset_degrees":-0.5228753544038551},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001975364224910116,0.0002971090319432534,4.790163338367183e-05],"end_effector_yaw_offset_degrees":-0.22343383014807694}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000795602683287263,0.00023346996882839689],"position_m":[0.20280439731671274,-0.0455665300311716,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00019756013404104936,-0.0015525489650038793],"position_m":[0.23460243986595897,-0.3651525489650039,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016738952722095005,-0.00455043379990881],"position_m":[0.17097389527220952,0.2255495662000912,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006961636144770609,0.002872220108159286],"position_m":[0.33310383638552293,0.12057222010815928,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"425529ea42a0732440c9bac81c8e550d5f6ed12b8fa24f1c5727705b79a90d94","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6368/tex_ceiling_textures_7559/tex_floor_textures_6000/tex_table_textures_9548/tex_wall_textures_9440","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2135176735708901983,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2135176735708901983,"visual_seed":2135176735708901983,"scene_id":"lab_003","finished_at":"2026-09-04T07:38:42"}
+{"episode_id":"ep_000031","started_at":"2026-09-04T07:38:48","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[0.3193460425169956,-0.6859965555206535,0.71338606911949],"aabb_xy":[[0.27435345579854514,-0.7309965547951023],[0.36433862923544597,-0.6409965562462048]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[-0.10266955740911077,-1.3111376403319204,0.71338606911949],"aabb_xy":[[-0.11147161271808348,-1.3189489664868492],[-0.09386750210013806,-1.303326314176991]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[-0.6107179915730994,-2.2283958459666393,0.71338606911949],"aabb_xy":[[-0.674717991950633,-2.278141112817451],[-0.5467179911955657,-2.1786505791158266]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.5069486117117954,-0.36794759436738067,0.71338606911949],"aabb_xy":[[0.49760160412950016,-0.38225121658502464],[0.5162956192940906,-0.3536439721497366]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.5965922621331725,-0.5749203824353724,0.71338606911949],"aabb_xy":[[0.5465974292052309,-0.6249203813306159],[0.6465870950611141,-0.5249203835401288]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.4148952613522777,-1.3210733704606605,0.71338606911949],"aabb_xy":[[-0.41932589070711795,-1.3265217421953432],[-0.4104646319974376,-1.3156249987259783]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[-0.004896311200648262,-0.9406247789965558,0.71338606911949],"aabb_xy":[[-0.05988856183615922,-0.9956247807398688],[0.050095939434862694,-0.8856247772532433]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[0.12104832524484255,-2.24203441668246,0.71338606911949],"aabb_xy":[[0.11546665361071377,-2.2545344165002352],[0.12662999687897128,-2.229534416864684]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.14053779114534481,0.6620640118994245,0.71338606911949],"aabb_xy":[[-0.23053779086851894,0.6389906593642447],[-0.050537791422170596,0.6851373644346044]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.5136873653513673,-1.5191466580262591,0.71338606911949],"aabb_xy":[[-0.5589659802325164,-1.583146657374443],[-0.4684087504702179,-1.4551466586780757]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.2659236657535508,0.5664251953282062,0.71338606911949],"aabb_xy":[[-0.3034236660457256,0.5623837199276026],[-0.228423665461376,0.5704666707288099]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.37006344572356675,0.7022603240943885,0.71338606911949],"aabb_xy":[[0.3325634459065332,0.6976221127832466],[0.4075634455406003,0.7068985354055303]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[-0.38044441640710236,-2.2097419546792394,0.71338606911949],"aabb_xy":[[-0.4404444166585035,-2.2640232797157034],[-0.32044441615570113,-2.1554606296427745]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[-0.18766913421970866,-2.5605674126679263,0.71338606911949],"aabb_xy":[[-0.2251691345679364,-2.57235880824901],[-0.1501691338714809,-2.5487760170868428]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.5416076321660224,-1.8669766786625246,0.71338606911949],"aabb_xy":[[0.5379043708368834,-1.8706786969712423],[0.5453108934951612,-1.8632746603538068]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[-0.6111270434598847,-1.9090152841567387,0.71338606911949],"aabb_xy":[[-0.6374158677803252,-1.93528671781139],[-0.5848382191394439,-1.8827438505020875]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[-0.5782664523946471,-1.019798205911687,0.71338606911949],"aabb_xy":[[-0.5995444605381193,-1.0847982082377599],[-0.5569884442511748,-0.9547982035856137]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.5766999829123152,1.4655885570099225,0.71338606911949],"aabb_xy":[[-0.6261804041262741,1.4015885590970707],[-0.5272195616983565,1.5295885549227743]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[0.12545792442204973,-0.9968908089580144,0.71338606911949],"aabb_xy":[[0.11461744619553482,-1.014077090248663],[0.13629840264856463,-0.9797045276673656]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[-0.6593192405986603,0.818511126347468,0.71338606911949],"aabb_xy":[[-0.6658208771066649,0.8087433043211583],[-0.6528176040906557,0.8282789483737778]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[0.521323424257867,0.8977528381372601,0.71338606911949],"aabb_xy":[[0.4413296006793088,0.8177528355444186],[0.6013172478364253,0.9777528407301017]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[-0.1287917450186351,-1.7561438859645948,0.71338606911949],"aabb_xy":[[-0.20879174198167424,-1.8332195276083683],[-0.04879174805559591,-1.6790682443208214]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.28805077903951753,0.15117536939655052,0.71338606911949],"aabb_xy":[[-0.3430245010758504,0.09617536983231734],[-0.23307705700318465,0.2061753689607837]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[0.3212038461755877,1.024740761234364,0.71338606911949],"aabb_xy":[[0.27122642931033414,0.9747407597451153],[0.3711812630408413,1.0747407627236123]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[-0.49789297601037463,-0.5520699105647884,0.71338606911949],"aabb_xy":[[-0.5084604556684736,-0.5626149406777968],[-0.4873254963522756,-0.5415248804517797]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.505698830147667,1.2811096552640957,0.71338606911949],"aabb_xy":[[0.48318513832420973,1.211109654663088],[0.5282125219711241,1.351109655865103]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[-0.5412688871989483,1.7160086085903195,0.71338606911949],"aabb_xy":[[-0.6212688857862676,1.6366930066521583],[-0.4612688886116288,1.7953242105284801]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_27","position":[-0.5471757079540143,-2.3517868381763196,0.71338606911949],"aabb_xy":[[-0.5585374426073003,-2.3631553045826075],[-0.535813973300728,-2.340418371770031]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696896540674979,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8904.png","name":"8904"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8904.png","name":"8904"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/977.png","name":"977"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2816.png","name":"2816"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4359.png","name":"4359"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9472.png","name":"9472"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":522.5981429733638,"rotation_z_degrees":304.33647089008855,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009409109539549392,0.018369611969050428,0.01737697035775081]},{"name":"camera_2","offset_m":[0.008942695396156698,-0.006270470696626385,0.004830744638042242]},{"name":"camera_3","offset_m":[-0.0192696722751613,-0.004581839773143503,-0.008578320199210246]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004490794818551697,-0.00011741956004286658,0.0011039729604749872],"end_effector_yaw_offset_degrees":0.1084238955535568},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001756425461231082,0.0008250787791978247,0.0014945683828804625],"end_effector_yaw_offset_degrees":0.9658345571226326},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019122510456778255,0.00014788177830872985,0.0014472078291326972],"end_effector_yaw_offset_degrees":0.07470738113012709}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013158008197449843,0.004470209449141799],"position_m":[0.20491580081974498,-0.041329790550858204,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004969615828275805,0.0007000691334193843],"position_m":[0.2397696158282758,-0.36289993086658057,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003036747551600949,-0.00015397636023216626],"position_m":[0.16626325244839907,0.22994602363976782,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001177770962357536,-0.0026947328665622608],"position_m":[0.33262222903764244,0.11500526713343774,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"256cc0d094aac1d4860f6b2881143da2410570c479eeb47272aac04bd48cd23f","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0031.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8904/tex_ceiling_textures_9472/tex_floor_textures_4359/tex_table_textures_977/tex_wall_textures_2816","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8230592939089352667,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8230592939089352667,"visual_seed":8230592939089352667,"scene_id":"lab_003","finished_at":"2026-09-04T07:41:30"}
+{"episode_id":"ep_000032","started_at":"2026-09-04T07:41:33","dimensions":{"distractor":{"count":25,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[0.47250949508948814,-1.5423425478159978,0.71338606911949],"aabb_xy":[[0.38250949649501814,-1.5585931341294186],[0.5625094936839581,-1.5260919615025765]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.21162957870561266,0.07782774093499789,0.71338606911949],"aabb_xy":[[-0.29162957571986065,0.057693189261586605],[-0.13162958169136468,0.09796229260840915]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.2682420836252306,-2.0042268174237603,0.71338606911949],"aabb_xy":[[0.23578038274330312,-2.034359649538662],[0.300703784507158,-1.974093985308857]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[-0.5111088921693545,-1.4787671073925401,0.71338606911949],"aabb_xy":[[-0.5470223965943442,-1.5146806156092945],[-0.4751953877443648,-1.4428535991757854]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[0.42998876389884333,-1.897217331465276,0.71338606911949],"aabb_xy":[[0.3749887647222538,-1.9522070062402332],[0.48498876307543276,-1.842227656690318]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.21389070548601685,-1.5097527490059155,0.71338606911949],"aabb_xy":[[0.17709607236111058,-1.546658624102498],[0.2506853386109231,-1.4728468739093334]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.5620035758770479,-0.5860647997269832,0.71338606911949],"aabb_xy":[[0.5494008767399714,-0.5986601959518488],[0.5746062750141243,-0.5734694035021178]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.5112876625237834,0.9384350841237508,0.71338606911949],"aabb_xy":[[0.5004360562749078,0.9275757933960997],[0.522139268772659,0.9492943748514018]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.39276991472715955,-2.4610718105237974,0.71338606911949],"aabb_xy":[[-0.4301011912524022,-2.4957248653186497],[-0.3554386382019169,-2.426418755728945]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[0.5552999617388641,-2.3523649953796073,0.71338606911949],"aabb_xy":[[0.5317148382749692,-2.417364997625039],[0.5788850852027589,-2.2873649931341755]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[-0.33495413164511356,1.37746545218655,0.71338606911949],"aabb_xy":[[-0.37245413214247186,1.3734967686384316],[-0.2974541311477554,1.3814341357346687]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.28794448030042286,0.8652943619735431,0.71338606911949],"aabb_xy":[[0.28197794135968707,0.8593332173141792],[0.29391101924115864,0.8712555066329073]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.6430737094636478,1.4041865023289715,0.71338606911949],"aabb_xy":[[0.6299224634923584,1.379186502572285],[0.6562249554349371,1.429186502085658]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.515393846479375,-0.7481322520217921,0.71338606911949],"aabb_xy":[[0.510963217124535,-0.7535806237564748],[0.5198244758342153,-0.7426838802871096]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[0.6310739398904459,-0.010737174298955487,0.71338606911949],"aabb_xy":[[0.5945781192631671,-0.04722111672571305],[0.6675697605177245,0.025746768127802078]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.31903412900356654,-0.4489019163558443,0.71338606911949],"aabb_xy":[[0.29653412918966415,-0.453376532726325],[0.3415341288174689,-0.4444272999853636]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[0.17514146193344704,1.3807959482337036,0.71338606911949],"aabb_xy":[[0.15625707816493686,1.3619100234533508],[0.19402584570195727,1.3996818730140563]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[-0.49666962876055853,-1.7090452106426754,0.71338606911949],"aabb_xy":[[-0.541662215479009,-1.7540452099171242],[-0.45167704204210807,-1.6640452113682267]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[-0.29322081455224086,0.6496712742120083,0.71338606911949],"aabb_xy":[[-0.3582208127081599,0.6233750296620961],[-0.2282208163963218,0.6759675187619205]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.007295775068015042,-1.2864124334221991,0.71338606911949],"aabb_xy":[[-0.0014854520792211847,-1.2951921807107292],[0.01607700221525127,-1.277632686133669]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.373577229849821,1.4165443081105216,0.71338606911949],"aabb_xy":[[0.336077229677949,1.3838435727276142],[0.4110772300216929,1.4492450434934285]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.48850767743927137,1.0973732563223595,0.71338606911949],"aabb_xy":[[0.4385128445113298,1.0473732574271162],[0.538502510367213,1.1473732552176032]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.24560652146905532,-0.8659056966084824,0.71338606911949],"aabb_xy":[[-0.30960652063882527,-0.9126723837274449],[-0.1816065222992854,-0.8191390094895199]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[0.3716061259039367,-0.7719267510067627,0.71338606911949],"aabb_xy":[[0.36076564767742186,-0.7891130322974114],[0.3824466041304517,-0.7547404697161137]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.4640165785125411,0.8261127122510712,0.71338606911949],"aabb_xy":[[-0.5540165808465601,0.7486303576659585],[-0.374016576178522,0.9035950668361838]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681227342743935,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7419.png","name":"7419"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7419.png","name":"7419"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5685.png","name":"5685"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/130.png","name":"130"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1525.png","name":"1525"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8244.png","name":"8244"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":842.7945079446404,"rotation_z_degrees":148.79612246431634,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014764222174035457,0.008362360044655355,-0.019470139425235053]},{"name":"camera_2","offset_m":[0.01098799896930348,-0.012885945284340972,0.003310617316050604]},{"name":"camera_3","offset_m":[0.005536348981759608,0.0021680711984907834,-0.0039289371099066675]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006158598491471127,0.0015587674979265385,0.000920147402390319],"end_effector_yaw_offset_degrees":0.5849446529604914},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010056142484764225,0.0009438250688425564,-0.0017102066505653823],"end_effector_yaw_offset_degrees":-0.5756180786909377},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00046522457830525934,-0.0009968503150153797,0.0003494400668654675],"end_effector_yaw_offset_degrees":0.11109505713995893}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00011838241633918122,0.001804205302487023],"position_m":[0.2037183824163392,-0.043995794697512976,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014695579755589303,-0.001814462069159284],"position_m":[0.23626955797555893,-0.3654144620691593,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004029584902392565,0.003620458726710148],"position_m":[0.17332958490239256,0.23372045872671016,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004804333038857813,-0.0047107435326907005],"position_m":[0.3386043330388578,0.1129892564673093,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"508988074e43248813a43981cd19a3e7519823cf5c5da00c8c724559aec890ef","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7419/tex_ceiling_textures_8244/tex_floor_textures_1525/tex_table_textures_5685/tex_wall_textures_130","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":344948335244931844,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":344948335244931844,"visual_seed":344948335244931844,"scene_id":"lab_003","finished_at":"2026-09-04T07:44:15"}
+{"episode_id":"ep_000033","started_at":"2026-09-04T07:44:19","dimensions":{"distractor":{"count":30,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.641451728818186,0.10313480410452769,0.71338606911949],"aabb_xy":[[0.6295796458066848,0.018134804410877337],[0.653323811829687,0.18813480379817804]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.6406099644185423,1.1892652193301183,0.71338606911949],"aabb_xy":[[0.5956099629523135,1.1442653624686379],[0.6856099658847712,1.2342650761915992]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.34918515035413444,0.7899700553773337,0.71338606911949],"aabb_xy":[[-0.3554972498904729,0.7842031161241149],[-0.342873050817796,0.7957369946305525]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[0.15942222178402654,-1.8465072367645492,0.71338606911949],"aabb_xy":[[0.10944341327371063,-1.896507236770268],[0.2094010302943424,-1.7965072367588304]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.4621759610169871,-1.9764913607233914,0.71338606911949],"aabb_xy":[[0.40217596076558587,-2.030772685759856],[0.5221759612683883,-1.9222100356869267]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.0850723604119713,-0.6301355982116479,0.71338606911949],"aabb_xy":[[-0.10257236067130794,-0.6442271404004205],[-0.06757236015263468,-0.6160440560228753]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[-0.22160654664763935,0.7397478038662721,0.71338606911949],"aabb_xy":[[-0.2293097373217164,0.7320384331675341],[-0.2139033559735623,0.7474571745650102]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.08058982170271378,-1.647378440768433,0.71338606911949],"aabb_xy":[[-0.10308982221475438,-1.6698702991338312],[-0.058089821190673185,-1.6248865824030345]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[0.10130639069989356,0.6832665864474459,0.71338606911949],"aabb_xy":[[0.06700947968215293,0.6489697002375044],[0.13560330171763418,0.7175634726573871]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[-0.20448126524579086,1.012070908378365,0.71338606911949],"aabb_xy":[[-0.2379214404418104,0.9786272825474346],[-0.1710410900497712,1.0455145342092946]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[-0.17854328459597946,-1.4699753497099968,0.71338606911949],"aabb_xy":[[-0.19617612018950703,-1.4875982957256197],[-0.16091044900245188,-1.4523524036943738]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.21030763117432738,-1.7076455225487637,0.71338606911949],"aabb_xy":[[-0.25307433805374757,-1.7716455259705661],[-0.1675409242949072,-1.6436455191269612]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.27471590545452107,-1.0872150797950801,0.71338606911949],"aabb_xy":[[0.20971590449739388,-1.1391632917287857],[0.3397159064116483,-1.0352668678613746]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[0.5180164387388801,-0.7091571317599608,0.71338606911949],"aabb_xy":[[0.43801644015156066,-0.7884727336981215],[0.5980164373261995,-0.6298415298217998]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.3265975665456795,-1.5053152825664633,0.71338606911949],"aabb_xy":[[0.3206310276049437,-1.511276427225827],[0.3325641054864153,-1.4993541379070991]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[0.37421398281540186,-2.4626824276590913,0.71338606911949],"aabb_xy":[[0.3192207714782651,-2.517682427997885],[0.42920719415253866,-2.4076824273202977]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[-0.06409860057379879,-0.7974179829255337,0.71338606911949],"aabb_xy":[[-0.09972775647375853,-0.8330506496823866],[-0.02846944467383905,-0.7617853161686807]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.40845139577313494,-2.4600067220684645,0.71338606911949],"aabb_xy":[[-0.4303411433620757,-2.5500067193577136],[-0.3865616481841941,-2.3700067247792154]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[0.23385964279674654,-1.4173287265145085,0.71338606911949],"aabb_xy":[[0.16385964119446705,-1.430761519716166],[0.303859644399026,-1.403895933312851]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.6601028039071959,0.9481223572724584,0.71338606911949],"aabb_xy":[[0.6226028027224031,0.9437041345763978],[0.6976028050919887,0.9525405799685188]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.03754528611408425,-2.1068501662117978,0.71338606911949],"aabb_xy":[[-0.11754528658430022,-2.1151608738261465],[0.0424547143561317,-2.09853945859745]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[-0.5917098620498973,-1.7650389804550843,0.71338606911949],"aabb_xy":[[-0.6767098607419719,-1.7970248438499632],[-0.5067098633578226,-1.7330531170602055]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[-0.2322499424950626,-0.5000714134148354,0.71338606911949],"aabb_xy":[[-0.25136224985304145,-0.5192061922920774],[-0.21313763513708373,-0.4809366345375934]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.6400543007416511,1.0220574187343168,0.71338606911949],"aabb_xy":[[-0.6768489338665573,0.9851515436377345],[-0.6032596676167448,1.058963293830899]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[-0.38008029180765124,-1.3939090673827497,0.71338606911949],"aabb_xy":[[-0.3932315377789407,-1.4189090671394362],[-0.36692904583636193,-1.3689090676260631]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[0.4695793273316464,-0.8840778511039449,0.71338606911949],"aabb_xy":[[0.46424681267703344,-0.8894021793491804],[0.4749118419862594,-0.8787535228587093]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[-0.26036539628792654,0.3571553220473276,0.71338606911949],"aabb_xy":[[-0.2711383702092943,0.32215532382828865],[-0.24959242236655876,0.3921553202663666]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[0.32955389905555776,1.140501037510968,0.71338606911949],"aabb_xy":[[0.32156040926027574,1.1325029055704927],[0.3375473888508398,1.148499169451444]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[-0.6044564608676454,-1.0011375269940086,0.71338606911949],"aabb_xy":[[-0.6544564621514851,-1.0511163813846305],[-0.5544564595838052,-0.9511586726033864]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_29","position":[-0.2410619102131314,1.231904592362799,0.71338606911949],"aabb_xy":[[-0.2910550223223233,1.1819045916886035],[-0.19106879810393954,1.2819045930369948]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6630570637464402,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8992.png","name":"8992"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8992.png","name":"8992"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3718.png","name":"3718"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3016.png","name":"3016"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2065.png","name":"2065"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6534.png","name":"6534"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":774.0442032671285,"rotation_z_degrees":6.41810989201081,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001940213374906595,-0.015284412976128543,-0.006260008243641488]},{"name":"camera_2","offset_m":[-0.005557119811551421,-0.007150742261708771,-0.019576064806627116]},{"name":"camera_3","offset_m":[-0.009997770709957741,-0.009062320227533385,-0.00612308276461976]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013861573398024941,0.0003482418091568214,0.00041686674673337967],"end_effector_yaw_offset_degrees":0.19079112829410128},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017201825000648769,-0.0018862278445002409,0.0005471957200004723],"end_effector_yaw_offset_degrees":-0.8218579700278201},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015012387623528506,0.0012917203303577504,-0.001534924232272531],"end_effector_yaw_offset_degrees":0.9476078111863251}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004707193612663452,-0.0015481065037808105],"position_m":[0.20830719361266345,-0.04734810650378081,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003250234880937921,0.0002240959067768269],"position_m":[0.23154976511906208,-0.3633759040932232,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001862336133326631,0.004095570026193354],"position_m":[0.17116233613332663,0.23419557002619334,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009973662543852572,0.003944398260958096],"position_m":[0.33280263374561475,0.12164439826095809,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0703935e55c1b62bb4e14d2ec2284955244799aec5af302f5b30989b0b35ec26","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0033.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8992/tex_ceiling_textures_6534/tex_floor_textures_2065/tex_table_textures_3718/tex_wall_textures_3016","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3984202371681262896,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3984202371681262896,"visual_seed":3984202371681262896,"scene_id":"lab_003","finished_at":"2026-09-04T07:47:08"}
+{"episode_id":"ep_000034","started_at":"2026-09-04T07:47:13","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.3618093329376766,0.6619259016770469,0.71338606911949],"aabb_xy":[[0.3471659273836436,0.6472671820202627],[0.37645273849170957,0.6765846213338311]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.22944479849744065,0.7815747471234,0.71338606911949],"aabb_xy":[[-0.29344479920091004,0.7355563646504789],[-0.1654447977939713,0.827593129596321]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.5307833665326727,0.7837505919102208,0.71338606911949],"aabb_xy":[[0.4932833667156391,0.779112380599079],[0.5682833663497062,0.7883888032213626]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.3353552533713255,-0.19722247132289095,0.71338606911949],"aabb_xy":[[-0.3993552566610336,-0.24055739032680853],[-0.27135525008161737,-0.1538875523189733]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[-0.5426021975749588,-1.7270167195903432,0.71338606911949],"aabb_xy":[[-0.546738053907659,-1.7645167190347002],[-0.5384663412422586,-1.6895167201459862]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.24087433267927483,-0.6466526868783815,0.71338606911949],"aabb_xy":[[0.23644370332443465,-0.6521010586130641],[0.245304962034115,-0.6412043151436989]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[0.6093700710169729,-0.7415930285238481,0.71338606911949],"aabb_xy":[[0.5393700676254108,-0.776908802227279],[0.6793700744085348,-0.7062772548204173]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.36370518292348364,1.1079904887655432,0.71338606911949],"aabb_xy":[[0.3564614168772383,1.0279904905619408],[0.37094894896972896,1.1879904869691456]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[-0.31590461975452194,1.6521746326532782,0.71338606911949],"aabb_xy":[[-0.37590462000592306,1.5978933076168134],[-0.2559046195031207,1.7064559576897427]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.5416544761725969,-2.3000726853518034,0.71338606911949],"aabb_xy":[[-0.5503684452225311,-2.3225726860109908],[-0.5329405071226622,-2.2775726846926143]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.49396651266723846,0.3706195369675376,0.71338606911949],"aabb_xy":[[-0.5314665110906387,0.3574553229997069],[-0.45646651424383805,0.38378375093536815]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.023183828524496297,0.46441985797188057,0.71338606911949],"aabb_xy":[[-0.04307486840483654,0.45176404668718384],[-0.00329278864415605,0.4770756692565775]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.6162556816950524,-1.2636940665839276,0.71338606911949],"aabb_xy":[[0.6082294110644265,-1.2724455615612804],[0.6242819523256785,-1.2549425716065752]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[0.16014655777351627,-2.206565248149671,0.71338606911949],"aabb_xy":[[0.15524726546695275,-2.2342421674522392],[0.16504585008007974,-2.1788883288471017]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[-0.44281562506723476,-1.7023528838937239,0.71338606911949],"aabb_xy":[[-0.45216263264953,-1.7166565061113679],[-0.43346861748493953,-1.6880492616760798]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[0.17362559362800067,-2.507920677929834,0.71338606911949],"aabb_xy":[[0.14497626126758442,-2.5365662372069093],[0.20227492598841687,-2.4792751186527577]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[-0.5104219885549258,-0.02904295721394279,0.71338606911949],"aabb_xy":[[-0.5282910963093812,-0.04287586519115372],[-0.4925528808004702,-0.015210049236731863]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[-0.4655318765348493,-1.471900739040519,0.71338606911949],"aabb_xy":[[-0.4746917554787259,-1.4784319570840558],[-0.4563719975909727,-1.4653695209969817]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[0.01756322505314234,-1.3290016440494652,0.71338606911949],"aabb_xy":[[0.011061588545137726,-1.338769466075775],[0.024064861561146962,-1.3192338220231554]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.25929781330291746,0.9629448818466124,0.71338606911949],"aabb_xy":[[0.2416649777093899,0.9453219358309894],[0.27693064889644503,0.9805678278622354]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.25749655448302955,0.5787549279774837,0.71338606911949],"aabb_xy":[[-0.2690655352299661,0.553754927860552],[-0.24592757373609297,0.6037549280944154]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[0.2575372233481209,-2.0955020604355132,0.71338606911949],"aabb_xy":[[0.18753722071153456,-2.1156069254313787],[0.32753722598470725,-2.0753971954396477]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6687657815662666,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4540.png","name":"4540"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4540.png","name":"4540"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/352.png","name":"352"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4945.png","name":"4945"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7619.png","name":"7619"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7922.png","name":"7922"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":753.0963119665603,"rotation_z_degrees":212.17188374597941,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006984573842262089,0.014046338353985468,4.481288693268873e-05]},{"name":"camera_2","offset_m":[0.00013068518350353026,-0.001213582045046003,0.010267913429552487]},{"name":"camera_3","offset_m":[0.005311072759434675,0.018597963135580608,-0.005471224810595841]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012801697872843905,-0.0015801506053413922,0.0011006891240031994],"end_effector_yaw_offset_degrees":0.7090094014259283},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015485773646548425,-9.909902180135831e-05,-0.00036839319881082854],"end_effector_yaw_offset_degrees":0.40091927111443604},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-4.311913768506809e-05,0.000713482441565526,0.0007334557253776434],"end_effector_yaw_offset_degrees":-0.6760546032609906}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011313356515204086,-0.0041109350550174685],"position_m":[0.2047313356515204,-0.049910935055017466,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00038579186158720254,-0.004637107696059474],"position_m":[0.23518579186158722,-0.36823710769605944,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010901932152408492,-0.004318637023491311],"position_m":[0.17039019321524085,0.2257813629765087,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001501359464400982,-0.0014907787825262],"position_m":[0.335301359464401,0.1162092212174738,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fb5766ae68165b504d6afd05e07955a6bd2eea35091d4e88ab67fab632c2bf6e","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4540/tex_ceiling_textures_7922/tex_floor_textures_7619/tex_table_textures_352/tex_wall_textures_4945","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6827089106314954742,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6827089106314954742,"visual_seed":6827089106314954742,"scene_id":"lab_003","finished_at":"2026-09-04T07:49:57"}
+{"episode_id":"ep_000035","started_at":"2026-09-04T07:50:00","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.28370531246163355,-2.277659755327168,0.71338606911949],"aabb_xy":[[0.2491142296075883,-2.342659755612198],[0.3182963953156787,-2.212659755042136]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.20642695862868132,-0.9848784911350432,0.71338606911949],"aabb_xy":[[-0.2704269606784133,-1.0249729742243514],[-0.14242695657894935,-0.9447840080457354]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.3793339945921515,-2.090496901974344,0.71338606911949],"aabb_xy":[[-0.40433399414389004,-2.1006393858394783],[-0.3543339950404131,-2.080354418109209]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[-0.5519672787836614,0.7786064947469935,0.71338606911949],"aabb_xy":[[-0.6119672793796775,0.72379402220177],[-0.4919672781876452,0.833418967292217]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[-0.26507343870214417,-1.8806681672726961,0.71338606911949],"aabb_xy":[[-0.32907343799631245,-1.9446543076415506],[-0.201073439407976,-1.8166820269038422]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[0.06429880939530419,-2.398854111476086,0.71338606911949],"aabb_xy":[[-0.005701192413441261,-2.4202078802402736],[0.13429881120404963,-2.377500342711899]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.24107941535604988,0.5541675089971667,0.71338606911949],"aabb_xy":[[-0.31107941799263616,0.5340626440013011],[-0.17107941271946348,0.5742723739930321]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.5378510321900507,-0.7621132459337054,0.71338606911949],"aabb_xy":[[0.5222952627797857,-0.7776636791781129],[0.5534068016003162,-0.7465628126892984]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.46126260071690406,-0.5487523444943365,0.71338606911949],"aabb_xy":[[0.44520067325838636,-0.6337523463069283],[0.47732452817542165,-0.46375234268174476]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[0.3077143056629117,1.4530921383867583,0.71338606911949],"aabb_xy":[[0.2827143064972786,1.446139892681402],[0.3327143048285448,1.4600443840921151]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.5538038306369634,-0.38746819043204317,0.71338606911949],"aabb_xy":[[-0.6338038286177484,-0.3950697313938951],[-0.47380383265617837,-0.3798666494701912]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[-0.40537249016724564,-0.2292237297144939,0.71338606911949],"aabb_xy":[[-0.4212569834325708,-0.24357667001331798],[-0.3894879969019205,-0.21487078941566987]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[-0.4256041361999136,0.03195379494584172,0.71338606911949],"aabb_xy":[[-0.43371779087329065,0.023847978491812638],[-0.41749048152653645,0.0400596113998708]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[0.26508926597511073,-1.5894460343271857,0.71338606911949],"aabb_xy":[[0.22290485181428,-1.6534460346043967],[0.3072736801359415,-1.5254460340499743]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.5056033379050089,-0.04807492318163531,0.71338606911949],"aabb_xy":[[0.47130642688726815,-0.08237180939157668],[0.5399002489227493,-0.013778036971693941]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[-0.3690488264281539,0.7327509500635889,0.71338606911949],"aabb_xy":[[-0.37501536536888974,0.726789805404225],[-0.36308228748741816,0.7387120947229531]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.6166839579732915,0.17583924206018198,0.71338606911949],"aabb_xy":[[-0.6666770700824833,0.12583924138598637],[-0.5666908458640996,0.22583924273437767]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.12091954744987887,1.3641288144083998,0.71338606911949],"aabb_xy":[[0.07091954608899165,1.314150909832984],[0.1709195488107661,1.4141067189838152]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[-0.05432032773025952,0.34091503363585707,0.71338606911949],"aabb_xy":[[-0.06310155487749577,0.332135286347327],[-0.04553910058302331,0.34969478092438727]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[-0.21093872700041677,-1.2726468024355337,0.71338606911949],"aabb_xy":[[-0.2519566703867876,-1.3226468030664913],[-0.16992078361404586,-1.2226468018045766]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6605475268743907,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3682.png","name":"3682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4336.png","name":"4336"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1647.png","name":"1647"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3181.png","name":"3181"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":536.6823344643724,"rotation_z_degrees":327.92578602654675,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010327420966794062,0.011987339481942343,0.0018163632009986913]},{"name":"camera_2","offset_m":[-0.011206030477508105,-0.005071696435551507,-0.019076775680485665]},{"name":"camera_3","offset_m":[-0.015153425970435796,-0.00018243714338147393,-0.009586198570603766]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00193715579453761,0.00012117327471380251,0.0003650356735698736],"end_effector_yaw_offset_degrees":0.6678487914141722},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001559775648293741,0.0018609556672421097,-5.888055595778012e-05],"end_effector_yaw_offset_degrees":-0.13486378888232187},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.85260045843349e-05,-0.0018689655491813172,0.001641583961931673],"end_effector_yaw_offset_degrees":-0.984541041498119}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038510700880812375,-0.004437647840882413],"position_m":[0.20745107008808125,-0.050237647840882416,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038094345738689905,0.003960681991111786],"position_m":[0.23099056542613103,-0.3596393180088882,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011299127083889762,-0.002167114372663862],"position_m":[0.17042991270838898,0.22793288562733613,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002706957146018452,0.001655336511493491],"position_m":[0.33407069571460185,0.11935533651149349,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"380b009ac77615b074d781085a7c76f3c8a6a85ba1a66640cd61d94a40ed01b8","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0035.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3943/tex_ceiling_textures_3181/tex_floor_textures_1647/tex_table_textures_3682/tex_wall_textures_4336","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2068156099408554445,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2068156099408554445,"visual_seed":2068156099408554445,"scene_id":"lab_003","finished_at":"2026-09-04T07:52:45"}
+{"episode_id":"ep_000036","started_at":"2026-09-04T07:52:48","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[-0.370122423887841,-1.6956243862218778,0.71338606911949],"aabb_xy":[[-0.44012242569658644,-1.7169781549860652],[-0.30012242207909556,-1.6742706174576905]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[-0.5686034010769293,-0.7542489240464945,0.71338606911949],"aabb_xy":[[-0.633603399634002,-0.7840014574603771],[-0.5036034025198564,-0.7244963906326118]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[0.0706747646961472,1.2730315002072645,0.71338606911949],"aabb_xy":[[0.05039046197274843,1.2527488750645555],[0.09095906741954594,1.2933141253499731]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.5091298038792588,0.46085777851229315,0.71338606911949],"aabb_xy":[[-0.5316298036931612,0.4563831621418124],[-0.4866298040653564,0.4653323948827738]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[-0.49556078076507115,0.3932857113820116,0.71338606911949],"aabb_xy":[[-0.5180607802887784,0.37078976393139074],[-0.4730607812413637,0.4157816588326323]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[0.0717284557907264,-1.005437868207865,0.71338606911949],"aabb_xy":[[0.021751038925472806,-1.0554378696971134],[0.12170587265597997,-0.9554378667186164]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[0.09257241006509576,-1.6509633817694445,0.71338606911949],"aabb_xy":[[0.08172080381622016,-1.6618226724970953],[0.10342401631397136,-1.6401040910417932]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[0.2901917378399854,-0.5995232865587043,0.71338606911949],"aabb_xy":[[0.28648847651084647,-0.6032253048674221],[0.29389499916912426,-0.5958212682499864]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[0.1692279478058658,-1.5627131608470688,0.71338606911949],"aabb_xy":[[0.14705542082921497,-1.5848888280031916],[0.19140047478251662,-1.540537493690945]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[0.39572139318628885,1.7165349651875998,0.71338606911949],"aabb_xy":[[0.3652371430592587,1.6665349654061041],[0.426205643313319,1.766534964969096]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.6311723688658195,-0.40799420093419725,0.71338606911949],"aabb_xy":[[0.5810749048847459,-0.47199420144400905],[0.6812698328468931,-0.34399420042438544]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[0.29477928331720715,-2.041105480280431,0.71338606911949],"aabb_xy":[[0.29014416816497374,-2.0449728153575797],[0.29941439846944046,-2.037238145203282]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.2596020437610712,1.5369274543569609,0.71338606911949],"aabb_xy":[[0.20960204511515002,1.4870079106974985],[0.3096020424069924,1.5868469980164233]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.4271724419649192,-1.8476551092949647,0.71338606911949],"aabb_xy":[[0.4178788237277686,-1.8851551077830986],[0.43646606020206974,-1.8101551108068308]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[0.06866591919505405,-2.093817211220871,0.71338606911949],"aabb_xy":[[0.01367366855954311,-2.148817212964184],[0.12365816983056502,-2.0388172094775583]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.25500598880221714,0.8276379290378011,0.71338606911949],"aabb_xy":[[0.23984311582528012,0.8124724717426824],[0.2701688617791543,0.84280338633292]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[-0.6259270957874908,-1.385519932444492,0.71338606911949],"aabb_xy":[[-0.6583887966694181,-1.4156527645593944],[-0.5934653949055632,-1.3553871003295892]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.07546932507943127,-1.197573719682145,0.71338606911949],"aabb_xy":[[0.05796932482009466,-1.2116652618709178],[0.09296932533876791,-1.1834821774933726]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.5672244600584908,0.6303081434878028,0.71338606911949],"aabb_xy":[[0.54533471246955,0.5403081461985537],[0.5891142076474316,0.720308140777052]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.6504445886236669,-0.8273701932171535,0.71338606911949],"aabb_xy":[[0.6451070129576625,-0.8523701941462934],[0.6557821642896716,-0.8023701922880139]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[-0.14818868843840127,-0.01784102183562375,0.71338606911949],"aabb_xy":[[-0.17068868868191667,-0.030045656495395704],[-0.12568868819488588,-0.0056363871758518015]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6704303792798753,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1515.png","name":"1515"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1515.png","name":"1515"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5527.png","name":"5527"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8179.png","name":"8179"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4161.png","name":"4161"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2462.png","name":"2462"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":733.8091748713232,"rotation_z_degrees":247.29679514816368,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004332475854929886,-0.01685291347120917,0.017131401488155163]},{"name":"camera_2","offset_m":[-0.011911773557434424,-0.019955356349421662,-0.016230340577566546]},{"name":"camera_3","offset_m":[0.0017708849764506464,0.01702996392993716,0.0031627313867797838]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009829659819044004,2.8168144399023844e-05,-0.0012838324251151403],"end_effector_yaw_offset_degrees":-0.9927858589265217},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014868035391334504,-0.0018423070430506811,-0.0005809835278372338],"end_effector_yaw_offset_degrees":-0.41530705251279687},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019006523928956592,0.0009851042181910309,0.0006924860423303874],"end_effector_yaw_offset_degrees":-0.2057724309220852}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011641957364761481,-0.0021250843985614067],"position_m":[0.20476419573647614,-0.047925084398561406,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028193992890901904,-0.003965986535675486],"position_m":[0.2376193992890902,-0.36756598653567546,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004427901555763604,-0.0033915865494784547],"position_m":[0.17372790155576362,0.22670841345052153,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026169088692508773,-0.0034156418826237532],"position_m":[0.33641690886925085,0.11428435811737625,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"05894934b1598d0db55f3ec59192704457c5bbcced40e4f379c99e95d8ce7014","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0036.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1515/tex_ceiling_textures_2462/tex_floor_textures_4161/tex_table_textures_5527/tex_wall_textures_8179","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6521514228835120938,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6521514228835120938,"visual_seed":6521514228835120938,"scene_id":"lab_003","finished_at":"2026-09-04T07:55:26"}
+{"episode_id":"ep_000037","started_at":"2026-09-04T07:55:29","dimensions":{"distractor":{"count":23,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[0.2536308059376957,-1.9800031374423877,0.71338606911949],"aabb_xy":[[0.2303489637395644,-2.0650031387396153],[0.27691264813582706,-1.8950031361451596]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[0.5724615309933914,-0.5467723007160212,0.71338606911949],"aabb_xy":[[0.5174660531727319,-0.601772302149928],[0.6274570088140506,-0.4917722992821142]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[-0.23317219224884783,-2.4858597767754875,0.71338606911949],"aabb_xy":[[-0.24577489138592432,-2.498455173000353],[-0.2205694931117714,-2.473264380550622]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[-0.05849165391496658,0.6477169910770528,0.71338606911949],"aabb_xy":[[-0.06648514371024862,0.6397188591365773],[-0.050498164119684566,0.6557151230175285]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.07322524383115803,-0.9878508640819275,0.71338606911949],"aabb_xy":[[-0.10781632668520323,-1.0528508643669583],[-0.0386341609771128,-0.9228508637968963]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.6652223159349944,0.6917189093819087,0.71338606911949],"aabb_xy":[[-0.6745159341721448,0.6542189108937747],[-0.6559286976978437,0.7292189078700425]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[-0.1466635186229852,0.9680195498413502,0.71338606911949],"aabb_xy":[[-0.18166351689310511,0.9609454221463619],[-0.11166352035286531,0.9750936775363382]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.5810382702304009,-1.9521490004642699,0.71338606911949],"aabb_xy":[[-0.6305186914443597,-2.0161489983771217],[-0.5315578490164421,-1.8881490025514183]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.3413389759313468,-0.30221716522422026,0.71338606911949],"aabb_xy":[[-0.42133897700446715,-0.3119952115616047],[-0.2613389748582265,-0.2924391188868358]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[0.429582219843873,1.5651972387878383,0.71338606911949],"aabb_xy":[[0.38441090199570416,1.5011972416433004],[0.4747535376920421,1.6291972359323772]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[0.0870940513458569,-1.3370945637388307,0.71338606911949],"aabb_xy":[[0.05209405221590124,-1.3428397848144948],[0.12209405047581257,-1.3313493426631666]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.6114762906464712,-0.9157284826506276,0.71338606911949],"aabb_xy":[[-0.6754762939361793,-0.9590634016545451],[-0.547476287356763,-0.8723935636467098]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[0.5951177336231972,1.566915138078476,0.71338606911949],"aabb_xy":[[0.5878354172465333,1.4769151344689666],[0.6024000499998606,1.6569151416879846]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[0.4305304935377967,-2.4749808238931257,0.71338606911949],"aabb_xy":[[0.3405304968021865,-2.5281642872104197],[0.5205304902734069,-2.4217973605758307]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[-0.5842541375972228,1.7070722310725555,0.71338606911949],"aabb_xy":[[-0.6215854141224655,1.6724191762777032],[-0.5469228610719803,1.7417252858674077]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.360270712705981,-1.349086018705687,0.71338606911949],"aabb_xy":[[0.3403796728256408,-1.3617418299903838],[0.38016175258632134,-1.3364302074209902]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.49668364345694127,0.3685878516495755,0.71338606911949],"aabb_xy":[[0.4366836436103745,0.3117692294565368],[0.5566836433035081,0.42540647384261415]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[0.16634534323578598,1.7040691247948572,0.71338606911949],"aabb_xy":[[0.15619232768163657,1.6679995832221164],[0.17649835878993533,1.740138666367597]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.1791524085266064,1.669543466663407,0.71338606911949],"aabb_xy":[[-0.19606314096294816,1.6560712610707924],[-0.1622416760902646,1.6830156722560217]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.285840668409044,-0.7558758299154322,0.71338606911949],"aabb_xy":[[0.2657822567958037,-0.7759409168245898],[0.3058990800222843,-0.7358107430062747]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.14432984388265935,-0.5899095694426228,0.71338606911949],"aabb_xy":[[-0.16253566754390703,-0.6009349700246145],[-0.12612402022141167,-0.5788841688606312]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[-0.27315081990462337,-2.288949578280744,0.71338606911949],"aabb_xy":[[-0.35315082206738585,-2.3689047619068875],[-0.19315081774186088,-2.2089943946546002]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[-0.27665475628068237,1.15262553330229,0.71338606911949],"aabb_xy":[[-0.3616547546981056,1.067751237840005],[-0.19165475786325914,1.2374998287645749]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625894502671087,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2985.png","name":"2985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2985.png","name":"2985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1086.png","name":"1086"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1645.png","name":"1645"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4143.png","name":"4143"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3015.png","name":"3015"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":501.75400297724394,"rotation_z_degrees":163.24063850623247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00878220905860911,-0.005664721045440645,-0.0028042668310470746]},{"name":"camera_2","offset_m":[0.009377400689509728,-0.012199096940142685,-0.016971769461872094]},{"name":"camera_3","offset_m":[0.012593697766952867,-0.0008822027577230218,0.005724501832372993]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011345065557240796,0.0018769616316224435,-0.0005874512404555063],"end_effector_yaw_offset_degrees":-0.890469738759559},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011238654625649325,-0.00013221826749034858,0.0014161318481509238],"end_effector_yaw_offset_degrees":0.585088313492963},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013236031391561823,0.0015981548757093055,0.00046174430324616303],"end_effector_yaw_offset_degrees":0.4982201895012366}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001282591719968257,0.002529137091529115],"position_m":[0.20231740828003175,-0.04327086290847089,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015094778293424306,0.0037551929124273057],"position_m":[0.23329052217065757,-0.35984480708757266,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001633432205663584,-0.0005546915338877668],"position_m":[0.1709334322056636,0.22954530846611224,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000629792484720719,-0.003734227286181859],"position_m":[0.3344297924847207,0.11396577271381814,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8c103929800a3f24d284ccaebfee88477faed94163d54226e6cf1f4df4963583","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2985/tex_ceiling_textures_3015/tex_floor_textures_4143/tex_table_textures_1086/tex_wall_textures_1645","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5950179995377280108,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5950179995377280108,"visual_seed":5950179995377280108,"scene_id":"lab_003","finished_at":"2026-09-04T07:58:33"}
+{"episode_id":"ep_000038","started_at":"2026-09-04T07:58:36","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.284163406758177,-0.5381480643576286,0.71338606911949],"aabb_xy":[[-0.3341408236234305,-0.5881480658468771],[-0.23418598989292336,-0.48814806286838003]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.46595827037749116,-1.5228557989532763,0.71338606911949],"aabb_xy":[[0.4446802622340189,-1.5878558012793493],[0.4872362785209634,-1.4578557966272032]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[0.45894540839232967,-1.7452921971155408,0.71338606911949],"aabb_xy":[[0.42144540760033417,-1.7516600380737308],[0.49644540918432506,-1.7389243561573504]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[-0.11707896423079056,1.413025638946229,0.71338606911949],"aabb_xy":[[-0.18207896211243835,1.361901975239688],[-0.05207896634914276,1.4641493026527697]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.44331030367563895,-1.4055084588347084,0.71338606911949],"aabb_xy":[[0.4392321457685891,-1.4095894390829715],[0.4473884615826886,-1.401427478586445]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[-0.4326280188860495,1.7621519999971107,0.71338606911949],"aabb_xy":[[-0.4694226520109558,1.7252461249005282],[-0.39583338576114324,1.7990578750936927]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[-0.6319172295777195,1.100142018924585,0.71338606911949],"aabb_xy":[[-0.6919172312206414,1.0481418696326408],[-0.5719172279347977,1.1521421682165292]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[-0.5790287390193818,-0.08169752057834945,0.71338606911949],"aabb_xy":[[-0.629028740038517,-0.11816373631617738],[-0.5290287380002465,-0.04523130484052149]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.08376686039570524,-1.5370182250235298,0.71338606911949],"aabb_xy":[[-0.12231255322090627,-1.5755639960797185],[-0.0452211675705042,-1.498472453967341]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[-0.6612441780574203,0.06428759245789628,0.71338606911949],"aabb_xy":[[-0.6862441772230534,0.057335346752539706],[-0.6362441788917872,0.07123983816325286]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[-0.17620364434027702,1.6758521833874398,0.71338606911949],"aabb_xy":[[-0.18441818945596095,1.6671755930897982],[-0.16798909922459299,1.684528773685081]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[0.43926143961656305,0.04237996629096141,0.71338606911949],"aabb_xy":[[0.4167614398026607,0.037905349920480724],[0.4617614394304655,0.0468545826614421]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.5317864178592921,0.01660802577977183,0.71338606911949],"aabb_xy":[[-0.5371189325139052,0.01128369753453623],[-0.5264539032046791,0.021932354025007428]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.2413852761902453,1.3243894909919498,0.71338606911949],"aabb_xy":[[-0.25385263429998095,1.311924166358626],[-0.22891791808050968,1.336854815625273]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[-0.37087124466195226,0.3652513139602327,0.71338606911949],"aabb_xy":[[-0.42086607758989386,0.31525131506498916],[-0.32087641173401066,0.41525131285547623]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.44750319475790473,-2.190675624970265,0.71338606911949],"aabb_xy":[[-0.5115031911852266,-2.237845248792362],[-0.3835031983305829,-2.143506001148169]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[-0.00984159411400709,-2.159860239260066,0.71338606911949],"aabb_xy":[[-0.0738415974037152,-2.2031951582639833],[0.05415840917570102,-2.116525320256148]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[-0.6310197365243613,1.6008568496697966,0.71338606911949],"aabb_xy":[[-0.6685197370217194,1.596888166121678],[-0.5935197360270029,1.604825533217915]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[-0.19073078745318717,-2.5468174244596624,0.71338606911949],"aabb_xy":[[-0.2245063466438801,-2.5608559196728273],[-0.15695522826249417,-2.5327789292464975]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[0.44233020828321257,-0.45047262851645264,0.71338606911949],"aabb_xy":[[0.4080139311085947,-0.5004726284896304],[0.47664648545783056,-0.40047262854327487]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[0.11083071910966424,0.8426517882838294,0.71338606911949],"aabb_xy":[[0.046830718849193424,0.7976429889309014],[0.17483071937013503,0.8876605876367574]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[-0.3395339169161034,1.538920804477828,0.71338606911949],"aabb_xy":[[-0.3467951644865108,1.5261337942143183],[-0.332272669345696,1.5517078147413372]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.041886435839260994,-1.0130233444099694,0.71338606911949],"aabb_xy":[[-0.09951690472653182,-1.0730233433366798],[0.015744033048009854,-0.9530233454832586]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[-0.18386615616402224,-0.683298954231905,0.71338606911949],"aabb_xy":[[-0.2388616339846816,-0.7382989556658118],[-0.12887067834336283,-0.628298952797998]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[0.06506010546138974,1.7286205465426128,0.71338606911949],"aabb_xy":[[-0.014939897802623392,1.7150605142336994],[0.14506010872540287,1.742180578851526]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_25","position":[-0.24779357867854335,1.0828638114931937,0.71338606911949],"aabb_xy":[[-0.2557168589172917,1.06036381125519],[-0.239870298439795,1.1053638117311968]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[-0.361800783448068,-1.291038061754255,0.71338606911949],"aabb_xy":[[-0.40893016244990354,-1.3550380627986565],[-0.3146714044462322,-1.2270380607098526]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[-0.16207100339789404,0.5390527322559082,0.71338606911949],"aabb_xy":[[-0.20987717101166267,0.47405272954884914],[-0.11426483578412538,0.6040527349629671]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[0.4163905786951707,1.0313401983097723,0.71338606911949],"aabb_xy":[[0.3963321670819304,1.0112751114006147],[0.436448990308411,1.0514052852189295]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619647832173475,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/336.png","name":"336"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/336.png","name":"336"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8226.png","name":"8226"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5250.png","name":"5250"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3702.png","name":"3702"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9745.png","name":"9745"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":740.2385542743256,"rotation_z_degrees":16.294380227614944,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015352508110281073,0.007706873517095713,0.016083365739915628]},{"name":"camera_2","offset_m":[-0.011281527161425173,0.008819161349942251,0.0006980157783228746]},{"name":"camera_3","offset_m":[0.018673117487384542,0.0010338878593883528,-0.00018082178518627132]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007611776714197471,0.0014061246263423117,-0.0018186220897929144],"end_effector_yaw_offset_degrees":0.0036610256262465946},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00018902549438709138,-4.4469542239429245e-05,0.0016672187907587855],"end_effector_yaw_offset_degrees":-0.382161606730397},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00045170787095133967,-0.001399171841760353,-0.00103619518162631],"end_effector_yaw_offset_degrees":-0.8648982655584763}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029029184360194363,0.004014047811393042],"position_m":[0.20069708156398056,-0.04178595218860696,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022759808301466822,0.003720593437718147],"position_m":[0.23252401916985332,-0.35987940656228184,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002685007333462391,0.004449656643734686],"position_m":[0.1719850073334624,0.23454965664373467,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010835472157495994,-0.0014992521225416179],"position_m":[0.3327164527842504,0.11620074787745838,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d6ce44483d643a666bcdd3ef3fa1efbc2bd9bb75d4a52fe82bc7dd03d9d4083c","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0038.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_336/tex_ceiling_textures_9745/tex_floor_textures_3702/tex_table_textures_8226/tex_wall_textures_5250","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2341003194094551360,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2341003194094551360,"visual_seed":2341003194094551360,"scene_id":"lab_003","finished_at":"2026-09-04T08:01:25"}
+{"episode_id":"ep_000039","started_at":"2026-09-04T08:01:28","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[-0.4923509904456388,-2.1723201270993675,0.71338606911949],"aabb_xy":[[-0.5003444802409209,-2.1803182590398436],[-0.4843575006503569,-2.1643219951588923]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[-0.4363164778412212,0.9852968529739985,0.71338606911949],"aabb_xy":[[-0.4451185331501939,0.9774855268190693],[-0.4275144225322485,0.9931081791289275]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.28279974627558546,-0.9455738592422043,0.71338606911949],"aabb_xy":[[0.26769744481456725,-0.9606753808732661],[0.29790204773660345,-0.9304723376111425]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[0.3886176173137086,0.4282857711516339,0.71338606911949],"aabb_xy":[[0.33863338160553136,0.3782857723381383],[0.4386018530218858,0.4782857699651295]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[-0.18462304689455988,-1.034994099195022,0.71338606911949],"aabb_xy":[[-0.18858353066429426,-1.0426619637805428],[-0.1806625631248255,-1.0273262346095016]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[-0.333821192502034,-1.6834469159275967,0.71338606911949],"aabb_xy":[[-0.3838160254299756,-1.7334469148228402],[-0.2838263595740924,-1.6334469170323531]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[-0.5420037253981095,0.5399191596689028,0.71338606911949],"aabb_xy":[[-0.5645028611243363,0.5174191588906398],[-0.5195045896718824,0.5624191604471658]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[-0.05479512846499979,0.7383128443291906,0.71338606911949],"aabb_xy":[[-0.13479512562457507,0.7267652433713736],[0.025204868694575493,0.7498604452870077]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[-0.15304391301785714,-2.108520815330084,0.71338606911949],"aabb_xy":[[-0.15908092601852186,-2.1145475163990324],[-0.1470069000171924,-2.102494114261136]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.3528671609466721,-2.163765623098069,0.71338606911949],"aabb_xy":[[-0.4178671619037993,-2.215713835031774],[-0.2878671599895449,-2.111817411164363]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[-0.5867240623177612,-1.0989802988893944,0.71338606911949],"aabb_xy":[[-0.5913591774699944,-1.102847633966543],[-0.5820889471655277,-1.0951129638122459]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[-0.1573742603327698,-0.5469405899091146,0.71338606911949],"aabb_xy":[[-0.16145241823981954,-0.551021570157378],[-0.15329610242572006,-0.5428596096608513]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.2758067630246817,0.4992339488985307,0.71338606911949],"aabb_xy":[[-0.28305052907092704,0.41923395069492825],[-0.2685629969784364,0.579233947102133]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[0.21728388350967076,0.8370406441937925,0.71338606911949],"aabb_xy":[[0.18613696466608762,0.7670406455069854],[0.24843080235325385,0.9070406428805997]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.17723043050413323,-1.847321982500171,0.71338606911949],"aabb_xy":[[0.15694612778073444,-1.8676046076428796],[0.19751473322753196,-1.827039357357462]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.4466230282486482,-0.5887767612331041,0.71338606911949],"aabb_xy":[[-0.5116230261302961,-0.6399004249396449],[-0.38162303036700046,-0.5376530975265632]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.15221264773830623,1.4692402147625887,0.71338606911949],"aabb_xy":[[-0.23221264639519226,1.454735355838326],[-0.07221264908142025,1.4837450736868518]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[0.487321733253419,-0.7822325678602959,0.71338606911949],"aabb_xy":[[0.43734431638816534,-0.8322325693495444],[0.5372991501186725,-0.7322325663710473]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[0.2231587498376283,-0.6708206813175552,0.71338606911949],"aabb_xy":[[0.15815874873168503,-0.6957860543856835],[0.2881587509435716,-0.6458553082494269]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[-0.6236373489904821,-1.7537896026180861,0.71338606911949],"aabb_xy":[[-0.6592665048904417,-1.789422269374939],[-0.5880081930905222,-1.7181569358612332]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.3265159692261342,1.634324399856832,0.71338606911949],"aabb_xy":[[-0.3765159678720554,1.5844048561973694],[-0.276515970580213,1.6842439435162941]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[0.031161819981917693,1.6917830775014715,0.71338606911949],"aabb_xy":[[0.01204951262393883,1.6726482986242293],[0.05027412733989656,1.7109178563787133]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[0.45725798360678516,-1.6606947016435605,0.71338606911949],"aabb_xy":[[0.43597997546331285,-1.7256947039696335],[0.47853599175025735,-1.5956946993174874]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.02003935083855357,-2.357943547883451,0.71338606911949],"aabb_xy":[[-0.03140108549183973,-2.369312014289739],[-0.008677616185267412,-2.3465750814771633]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[-0.04518298060449166,-1.7792325280702757,0.71338606911949],"aabb_xy":[[-0.10918298201248232,-1.8310214795942004],[0.018817020803499004,-1.727443576546351]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[-0.46067841589605973,-2.530522234149646,0.71338606911949],"aabb_xy":[[-0.4890081258446,-2.5349829763433633],[-0.43234870594751956,-2.526061491955929]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[0.0136073418987116,1.1295026184404953,0.71338606911949],"aabb_xy":[[-0.07639265460216015,1.0835909760220368],[0.10360733839958335,1.1754142608589533]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_27","position":[0.4823795377405684,1.790218301907799,0.71338606911949],"aabb_xy":[[0.4648795374812319,1.7761267597190267],[0.49987953799990514,1.804309844096572]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_28","position":[-0.20550313969565426,0.5986860555432805,0.71338606911949],"aabb_xy":[[-0.22796790966705938,0.57618605466442],[-0.18303836972424914,0.621186056422141]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6699285783223932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1985.png","name":"1985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1985.png","name":"1985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1433.png","name":"1433"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6777.png","name":"6777"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1278.png","name":"1278"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5120.png","name":"5120"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":645.770721083426,"rotation_z_degrees":310.62974238081034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0040983278858148925,-0.011694623985915182,0.011709071559436356]},{"name":"camera_2","offset_m":[-0.002327856943043341,-0.019851567381348155,-0.014639584046132251]},{"name":"camera_3","offset_m":[0.01844896579827127,0.013291399276110945,0.007424080923897791]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[6.506770278771543e-05,-0.0005524815698121689,0.0009855604881943143],"end_effector_yaw_offset_degrees":-0.940601816871431},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018924839632119424,-0.0012777898065483143,0.0005052501184724476],"end_effector_yaw_offset_degrees":0.9649783533598315},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004178846794128503,-0.0006081874825953734,-0.0004551491848856907],"end_effector_yaw_offset_degrees":-0.7050675396459343}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024722698225133725,0.00019540656741316113],"position_m":[0.20607226982251337,-0.04560459343258684,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034135755958935995,-0.0021397249574687015],"position_m":[0.2382135755958936,-0.3657397249574687,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00424477019133341,-0.002761747302456863],"position_m":[0.1650552298086666,0.22733825269754313,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00462689638351753,-0.0010274678609564917],"position_m":[0.32917310361648244,0.11667253213904351,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c5afe445d5b9e78fafd76e39019b2458e44edd8e5639eb62401b3a1c44be73d0","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1985/tex_ceiling_textures_5120/tex_floor_textures_1278/tex_table_textures_1433/tex_wall_textures_6777","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5153380986637779412,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5153380986637779412,"visual_seed":5153380986637779412,"scene_id":"lab_003","finished_at":"2026-09-04T08:04:19"}
+{"episode_id":"ep_000040","started_at":"2026-09-04T08:04:22","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[0.19765001234410529,0.9444043151560981,0.71338606911949],"aabb_xy":[[0.16015001167952655,0.9287172571558759],[0.23515001300868396,0.9600913731563203]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[-0.5290842542909713,1.2631459091256318,0.71338606911949],"aabb_xy":[[-0.5466309492070902,1.2256459075613806],[-0.5115375593748523,1.3006459106898831]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[-0.5336257222334022,0.6471267585655918,0.71338606911949],"aabb_xy":[[-0.5384693169946322,0.6422751060866077],[-0.5287821274721722,0.6519784110445759]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[-0.04066789803537729,-0.9322352237318869,0.71338606911949],"aabb_xy":[[-0.05622366744564256,-0.9477856569762944],[-0.02511212862511203,-0.91668479048748]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.2484410424091637,0.35331136173218836,0.71338606911949],"aabb_xy":[[-0.285941040832564,0.34014714776435767],[-0.21094104398576333,0.36647557570001893]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[-0.5833844183320078,-1.4826263702710896,0.71338606911949],"aabb_xy":[[-0.6207156948572505,-1.5172794250659418],[-0.5460531418067653,-1.4479733154762373]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.3248944469515034,-1.8369588925396743,0.71338606911949],"aabb_xy":[[0.2770882793377347,-1.9019588952467332],[0.37270061456527204,-1.7719588898326153]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[-0.4644371340438257,-2.430881171449157,0.71338606911949],"aabb_xy":[[-0.4681403953729646,-2.4345831897578742],[-0.4607338727146868,-2.4271791531404387]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.5168994005572052,0.9259355378296252,0.71338606911949],"aabb_xy":[[-0.5274668802153041,0.9153905077166167],[-0.5063319208991061,0.9364805679426338]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[-0.5276068430191607,0.47884892434238635,0.71338606911949],"aabb_xy":[[-0.5651068431247536,0.4720267624894052],[-0.4901068429135677,0.4856710861953675]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[0.3456070977677217,0.9143823152472854,0.71338606911949],"aabb_xy":[[0.32369841562837065,0.8924816484271946],[0.36751577990707274,0.936282982067376]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.15316540047908322,-1.2256017319980845,0.71338606911949],"aabb_xy":[[0.13606332252071504,-1.2427085375293543],[0.17026747843745135,-1.2084949264668148]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.002449160456229005,-2.2186765229546297,0.71338606911949],"aabb_xy":[[-0.0524491591021502,-2.268596066614092],[0.04755083818969219,-2.1687569792951673]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[-0.6357030373982344,1.3960010784262802,0.71338606911949],"aabb_xy":[[-0.6582030374083826,1.3819048587866771],[-0.613203037388086,1.4100972980658837]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[0.6182178928567568,-2.26319774151205,0.71338606911949],"aabb_xy":[[0.6090580139128802,-2.2697289595555867],[0.6273777718006334,-2.256666523468513]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[-0.4021027822152442,-1.2304717118371693,0.71338606911949],"aabb_xy":[[-0.40621873232731687,-1.2345872668700146],[-0.39798683210317154,-1.2263561568043235]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.6547723348156346,-2.0816441264236687,0.71338606911949],"aabb_xy":[[-0.6834216671760507,-2.110289685700744],[-0.6261230024552182,-2.0529985671465925]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.2019873890856635,1.4475072235821664,0.71338606911949],"aabb_xy":[[0.16698738773418176,1.4271474876253456],[0.23698739043714523,1.4678669595389873]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.4426714545833321,1.5365801375203074,0.71338606911949],"aabb_xy":[[0.3965863633286006,1.4725801402677523],[0.48875654583806355,1.6005801347728625]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[0.5918680469242583,-1.1362798433078531,0.71338606911949],"aabb_xy":[[0.5378524506423583,-1.2002798462001103],[0.6458836432061583,-1.072279840415596]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[-0.4542182857542165,-0.7179296613137574,0.71338606911949],"aabb_xy":[[-0.5142182866150293,-0.7693560913202435],[-0.3942182848934037,-0.6665032313072707]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[-0.3470591618262555,-0.30268518941333644,0.71338606911949],"aabb_xy":[[-0.4020546396469149,-0.3576851908472433],[-0.2920636840055961,-0.24768518797942946]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[0.37548594382500067,-0.5388403609559194,0.71338606911949],"aabb_xy":[[0.3628591565378043,-0.5483864346574923],[0.388112731112197,-0.5292942872543465]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[-0.38108118325736506,1.4936150926117082,0.71338606911949],"aabb_xy":[[-0.40235919140083726,1.428615090285635],[-0.35980317511389276,1.558615094937781]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[-0.5344993651706191,-0.2655811763974061,0.71338606911949],"aabb_xy":[[-0.553611672528598,-0.2847159552746481],[-0.5153870578126403,-0.24644639752016406]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[0.23109225911156983,-2.073805072726229,0.71338606911949],"aabb_xy":[[0.16609225647377635,-2.1252846714256766],[0.2960922617493633,-2.0223254740267826]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6688532920550302,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6338.png","name":"6338"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6338.png","name":"6338"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7107.png","name":"7107"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2320.png","name":"2320"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5340.png","name":"5340"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3009.png","name":"3009"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":599.6731595772928,"rotation_z_degrees":151.73150925313513,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016191322660383933,-0.00011558067862151716,0.009364128057289589]},{"name":"camera_2","offset_m":[-0.005704747671980552,-0.006017036437592025,0.01409921639696109]},{"name":"camera_3","offset_m":[0.018182331894483445,0.006697684636352383,0.009960103842596421]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001972877775056139,0.0012691228040555154,-0.0007209999442690828],"end_effector_yaw_offset_degrees":-0.9125736177083599},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011567483437353644,0.001710920444401299,0.0003441645019122211],"end_effector_yaw_offset_degrees":0.8126354475401389},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011714497222642488,0.0009867445040208068,0.0014613801410559134],"end_effector_yaw_offset_degrees":-0.03262968948372458}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011124981949035655,0.004423737663724093],"position_m":[0.20471249819490356,-0.04137626233627591,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001447493918247316,-0.0031821258215069762],"position_m":[0.23624749391824731,-0.36678212582150693,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014007337115836535,0.0019483167711501813],"position_m":[0.17070073371158365,0.23204831677115018,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004659678955976468,0.0045590284825880205],"position_m":[0.33845967895597645,0.12225902848258802,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bd882534f87a75996e5274e047a2dd3cf67e919ad7ffbb9eed5fc7d2686dcfc1","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6338/tex_ceiling_textures_3009/tex_floor_textures_5340/tex_table_textures_7107/tex_wall_textures_2320","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2149679309366823209,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2149679309366823209,"visual_seed":2149679309366823209,"scene_id":"lab_003","finished_at":"2026-09-04T08:07:01"}
+{"episode_id":"ep_000041","started_at":"2026-09-04T08:07:05","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[0.5338180108478037,-0.2288383414751034,0.71338606911949],"aabb_xy":[[0.5205870653131223,-0.24206576049710277],[0.5470489563824849,-0.21561092245310393]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.6861582679073381,-2.518238448362013,0.71338606911949],"aabb_xy":[[0.6636582676638227,-2.530443083021785],[0.7086582681508535,-2.506033813702241]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.2361530217263026,-2.1151409044046465,0.71338606911949],"aabb_xy":[[0.2036913208443751,-2.1452737365195484],[0.26861472260823,-2.085008072289743]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.23206379366294916,-0.7598152227223536,0.71338606911949],"aabb_xy":[[-0.29606379077505485,-0.8088475925167642],[-0.16806379655084347,-0.710782852927943]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.331322093979441,-1.2119874503085144,0.71338606911949],"aabb_xy":[[0.3226241316887257,-1.2241124246159891],[0.3400200562701563,-1.1998624760010397]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[-0.5401716000787351,-1.9318697488137166,0.71338606911949],"aabb_xy":[[-0.5505831587592188,-1.937215482149615],[-0.5297600413982514,-1.9265240154778183]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[-0.597672194153571,0.3732831406422501,0.71338606911949],"aabb_xy":[[-0.6311123693495905,0.3398395148113199],[-0.5642320189575513,0.40672676647318007]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[-0.581369992038455,-1.545736495100563,0.71338606911949],"aabb_xy":[[-0.5874646199265733,-1.554305889652232],[-0.5752753641503366,-1.5371671005488945]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.48849577219025386,-1.4315435201083224,0.71338606911949],"aabb_xy":[[0.41849577578029207,-1.4519814557600037],[0.5584957686002157,-1.4111055844566402]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.25512342515305364,1.0731217895939764,0.71338606911949],"aabb_xy":[[-0.2631667850790088,0.9881217884986098],[-0.24708006522709847,1.1581217906893426]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.48922151369547273,1.6155096320776514,0.71338606911949],"aabb_xy":[[0.4392222385270366,1.5655096308017045],[0.5392207888639089,1.6655096333535988]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[-0.6329503404913986,-1.3038506520914326,0.71338606911949],"aabb_xy":[[-0.6504503407364479,-1.3213504399309994],[-0.6154503402463491,-1.2863508642518657]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.16353448643556123,-0.6589716239639498,0.71338606911949],"aabb_xy":[[-0.16984658597189967,-0.6647385632171686],[-0.1572223868992228,-0.653204684710731]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[0.48467352362208693,-2.0595496996889615,0.71338606911949],"aabb_xy":[[0.47739120724542317,-2.1495497032984696],[0.4919558399987505,-1.9695496960794519]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.42358546006333864,0.23644370358053424,0.71338606911949],"aabb_xy":[[0.397296635742898,0.21017226992588298],[0.4498742843837793,0.2627151372351854]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.43112818715854884,-0.6521070228508654,0.71338606911949],"aabb_xy":[[0.3961281888478534,-0.6598220377744111],[0.4661281854692443,-0.6443920079273198]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[-0.0822874485695938,-2.0756643509546966,0.71338606911949],"aabb_xy":[[-0.14387820779358662,-2.139664349063744],[-0.020696689345600996,-2.01166435284565]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[0.17610926580460495,-1.6555523271320602,0.71338606911949],"aabb_xy":[[0.09610926884156579,-1.7326279687758337],[0.2561092627676441,-1.5784766854882868]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[0.14544573995564103,-0.7075772329931502,0.71338606911949],"aabb_xy":[[0.0804457389985138,-0.7595254449268557],[0.21044574091276821,-0.6556290210594445]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.5269812057176833,-2.0752149027766382,0.71338606911949],"aabb_xy":[[-0.5628947101426729,-2.111128410993393],[-0.49106770129269356,-2.0393013945598835]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[0.2590676263900684,0.867332078658658,0.71338606911949],"aabb_xy":[[0.21776308332633237,0.8033320790905409],[0.30037216945380435,0.9313320782267751]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[0.4864145429969109,1.404030370485117,0.71338606911949],"aabb_xy":[[0.406414539739068,1.3240338626931327],[0.5664145462547538,1.4840268782771007]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[-0.6019753623546533,-0.3811256435333483,0.71338606911949],"aabb_xy":[[-0.6135443431015899,-0.4061256436502801],[-0.5904063816077167,-0.35612564341641667]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[-0.48608782983220056,0.6952552655288322,0.71338606911949],"aabb_xy":[[-0.5273366408621152,0.6402552660166145],[-0.44483901880228577,0.7502552650410494]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_24","position":[-0.3256886186114519,-2.0567121263012527,0.71338606911949],"aabb_xy":[[-0.3709672334926011,-2.120712125649436],[-0.28041000373030256,-1.9927121269530685]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[-0.2141220337218548,-1.0080200255172072,0.71338606911949],"aabb_xy":[[-0.23740387591998613,-1.0930200268144352],[-0.19084019152372345,-0.9230200242199792]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[0.10619952230180918,1.257276916146027,0.71338606911949],"aabb_xy":[[0.05631682542411298,1.2072769168997526],[0.15608221917950538,1.307276915392302]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[0.4077611619181041,1.109633040391885,0.71338606911949],"aabb_xy":[[0.3577782117306247,1.0596330407493242],[0.45774411210558336,1.159633040034445]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_28","position":[0.4036204701800883,-1.872222554103741,0.71338606911949],"aabb_xy":[[0.33962046795968126,-1.9165956382290292],[0.4676204724004953,-1.8278494699784527]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_29","position":[-0.03422806894574326,1.1675184676259316,0.71338606911949],"aabb_xy":[[-0.03836392527844346,1.1300184681815746],[-0.030092212613043075,1.2050184670702886]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6650258246800141,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3056.png","name":"3056"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3056.png","name":"3056"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7546.png","name":"7546"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5222.png","name":"5222"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5433.png","name":"5433"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7192.png","name":"7192"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":798.0422861465108,"rotation_z_degrees":347.3433185904956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012645904257283822,0.018870330716256597,0.012517165917726714]},{"name":"camera_2","offset_m":[-0.004098364904002328,-0.00606416966275642,0.009133905053598741]},{"name":"camera_3","offset_m":[0.01116875366034422,0.0044488546407223314,-0.008635299967521175]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018098807780531387,-0.00019902118090963814,0.0003717955692091892],"end_effector_yaw_offset_degrees":-0.24586206219029005},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013713106374574568,0.00026882317045566744,0.00034677832377645644],"end_effector_yaw_offset_degrees":-0.5542909844507666},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001239885076379009,-0.0017773485088836253,0.0012569709250399314],"end_effector_yaw_offset_degrees":0.3093359176928736}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007669418235047021,-0.00121774000285919],"position_m":[0.2043669418235047,-0.04701774000285919,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016986626921225746,-0.0010001245848792473],"position_m":[0.23310133730787744,-0.3646001245848792,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0047805209108326375,0.0019279981647928515],"position_m":[0.16451947908916736,0.23202799816479286,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030392578432192887,0.0001248867580274423],"position_m":[0.3307607421567807,0.11782488675802744,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"19b5031faf3a9e855540f11c56fc18d64b3514a862d174f8ddcba7eb5c08a932","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3056/tex_ceiling_textures_7192/tex_floor_textures_5433/tex_table_textures_7546/tex_wall_textures_5222","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":326035078023313649,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":326035078023313649,"visual_seed":326035078023313649,"scene_id":"lab_003","finished_at":"2026-09-04T08:09:52"}
+{"episode_id":"ep_000042","started_at":"2026-09-04T08:09:55","dimensions":{"distractor":{"count":34,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.5701617582756828,0.41258435310229036,0.71338606911949],"aabb_xy":[[0.5331276488476231,0.3782071457685809],[0.6071958677037426,0.4469615604359998]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[-0.13660293613287322,-1.1038686596822513,0.71338606911949],"aabb_xy":[[-0.1537050140912414,-1.120975465213521],[-0.11950085817450509,-1.0867618541509816]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[0.43954559145892413,1.284469448706905,0.71338606911949],"aabb_xy":[[0.3895455905083913,1.2529203017033836],[0.48954559240945694,1.3160185957104265]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.02150409139155318,-2.221861346226101,0.71338606911949],"aabb_xy":[[-0.04249590503576872,-2.2690309700481976],[0.08550408781887509,-2.1746917224040048]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[0.5049445800928791,0.5797018821029769,0.71338606911949],"aabb_xy":[[0.44994458189113423,0.5391799154765393],[0.5599445782946239,0.6202238487294145]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[0.4734883576229372,0.15555354695291435,0.71338606911949],"aabb_xy":[[0.46172017082827976,0.07055354704769277],[0.4852565444175948,0.24055354685813593]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.49475692980027475,1.5364127379349424,0.71338606911949],"aabb_xy":[[-0.49918755915511503,1.53096436620026],[-0.4903263004454347,1.541861109669625]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.4175698040954825,-1.4670574698349064,0.71338606911949],"aabb_xy":[[-0.46756980545636967,-1.517035374410322],[-0.3675698027345952,-1.4170795652594907]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[-0.6099444221951317,1.7307515374550495,0.71338606911949],"aabb_xy":[[-0.6163582358383164,1.7243417172073812],[-0.6035306085519465,1.7371613577027178]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[0.2774510990602972,-1.6107348688201482,0.71338606911949],"aabb_xy":[[0.27041078912676025,-1.6907348682198202],[0.28449140899383424,-1.5307348694204774]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.5881725341493025,-0.9634496445529084,0.71338606911949],"aabb_xy":[[0.5827145885122824,-1.0434496478605675],[0.5936304797863226,-0.8834496412452493]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[0.5521614740731717,-2.449948514283524,0.71338606911949],"aabb_xy":[[0.5465798024390429,-2.462448514101299],[0.5577431457073005,-2.4374485144657476]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.1851545640656077,-0.3951322027401356,0.71338606911949],"aabb_xy":[[-0.19491055357478157,-0.40489473679937],[-0.1753985745564338,-0.3853696686809011]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[0.20522780531680096,1.4274975701889239,0.71338606911949],"aabb_xy":[[0.1939827497461831,1.4162557724648286],[0.21647286088741877,1.4387393679130192]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.4183979368122448,-0.36706356009914565,0.71338606911949],"aabb_xy":[[0.4007223062236464,-0.38474377637854834],[0.4360735674008431,-0.34938334381974284]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[0.4078077560079434,1.7943913616631106,0.71338606911949],"aabb_xy":[[0.39030782257395996,1.7768913617428759],[0.4253076894419267,1.811891361583345]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[0.4895398239414219,-0.13136961153491988,0.71338606911949],"aabb_xy":[[0.4830381874334173,-0.14113743356122968],[0.49604146044942654,-0.12160178950861014]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.10805626014195524,0.867392036352093,0.71338606911949],"aabb_xy":[[-0.1455562585653556,0.8542278223842623],[-0.07055626171855488,0.8805562503199236]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[-0.5033791711171702,0.11352613726168892,0.71338606911949],"aabb_xy":[[-0.5833791732799327,0.033570953635545284],[-0.42337916895440775,0.19348132088783254]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[0.3660770034762735,-0.9137078381250026,0.71338606911949],"aabb_xy":[[0.3010770053203545,-0.9400040826749146],[0.4310770016321926,-0.8874115935750903]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[0.28744410155038047,-1.008229670549941,0.71338606911949],"aabb_xy":[[0.26855971778187027,-1.0271155953302937],[0.3063284853188907,-0.9893437457695882]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.2052307281093998,-0.5909576503926066,0.71338606911949],"aabb_xy":[[0.1476002592221289,-0.650957649319317],[0.2628611969966706,-0.5309576514658958]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[0.44206457001742416,-0.6817194765576062,0.71338606911949],"aabb_xy":[[0.41822835237681916,-0.7717194773660929],[0.4659007876580293,-0.5917194757491199]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[-0.592040988421467,-0.15719788662701362,0.71338606911949],"aabb_xy":[[-0.5968845831826971,-0.16204953910599773],[-0.5871973936602372,-0.1523462341480295]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[-0.1903711518056892,1.2521525756300043,0.71338606911949],"aabb_xy":[[-0.239851573019648,1.1881525777171524],[-0.1408907305917304,1.316152573542856]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[-0.386491536286604,0.30804463172697316,0.71338606911949],"aabb_xy":[[-0.45049153268217706,0.2440813433082396],[-0.3224915398910309,0.3720079201457067]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[-0.09938993733615631,1.0460752570568919,0.71338606911949],"aabb_xy":[[-0.1693899407277183,1.0107594833534608],[-0.029389933944594337,1.0813910307603225]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_27","position":[0.2875529150116862,-0.7520441966561731,0.71338606911949],"aabb_xy":[[0.23257919297535334,-0.8070441962204062],[0.3425266370480191,-0.6970441970919399]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[-0.17620838838857333,-1.6882408282721426,0.71338606911949],"aabb_xy":[[-0.24020839073137487,-1.733181679516275],[-0.11220838604577175,-1.6432999770280101]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[0.05177947537677474,0.908533570602529,0.71338606911949],"aabb_xy":[[0.0318884354964345,0.8958777593178322],[0.07167051525711499,0.9211893818872259]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_30","position":[0.46163323058341077,-2.170154285948003,0.71338606911949],"aabb_xy":[[0.4243019540581682,-2.204807340742856],[0.49896450710865337,-2.1355012311531514]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_31","position":[0.0900023098481717,1.5900241805633324,0.71338606911949],"aabb_xy":[[0.03990484586709808,1.5260241800535206],[0.14009977382924532,1.6540241810731442]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_32","position":[-0.2631850107791492,0.8197259282954064,0.71338606911949],"aabb_xy":[[-0.26730096089122185,0.8156103732625607],[-0.2590690606670765,0.8238414833282518]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_33","position":[0.48310072029212625,-2.0290470950949597,0.71338606911949],"aabb_xy":[[0.44810072198143075,-2.0367621100185054],[0.5181007186028217,-2.021332080171414]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676760819336914,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5077.png","name":"5077"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5077.png","name":"5077"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4465.png","name":"4465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5006.png","name":"5006"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2406.png","name":"2406"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3590.png","name":"3590"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":763.8815606491145,"rotation_z_degrees":309.3883648909762,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0034594230826925053,0.011563825172317185,0.00855625742478178]},{"name":"camera_2","offset_m":[-0.005656220009958713,0.011278363715288769,0.011464288095222572]},{"name":"camera_3","offset_m":[0.008174222330701073,0.007849691811506482,0.014446106418964617]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000792512624870176,0.001972410285277129,0.0011973824576579227],"end_effector_yaw_offset_degrees":0.9547268194875955},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011752443279783795,0.0005790135709784687,-0.0013493349638425602],"end_effector_yaw_offset_degrees":0.8598857808640195},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016151872665617637,0.0008322991300695418,-0.0014975592936400605],"end_effector_yaw_offset_degrees":0.4694114862212402}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027106855025944344,0.0009885412778551901],"position_m":[0.20088931449740557,-0.04481145872214481,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002525165444113714,0.0006273551150944466],"position_m":[0.23732516544411372,-0.36297264488490555,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002221787126538465,0.0028913602576855933],"position_m":[0.16707821287346153,0.2329913602576856,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016914436290890083,-0.004946902399543801],"position_m":[0.335491443629089,0.1127530976004562,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fa0fd17a84f0501267190a2626892786b3bb59c7605a2a9272fd817f3e7aae1b","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5077/tex_ceiling_textures_3590/tex_floor_textures_2406/tex_table_textures_4465/tex_wall_textures_5006","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1461472233474399093,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1461472233474399093,"visual_seed":1461472233474399093,"scene_id":"lab_003","finished_at":"2026-09-04T08:12:45"}
+{"episode_id":"ep_000043","started_at":"2026-09-04T08:12:48","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.05496711585842562,-0.7774107202447822,0.71338606911949],"aabb_xy":[[-0.077467115672328,-0.7818853366152629],[-0.03246711604452324,-0.7729361038743015]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.5070990048038908,-1.9628211859214257,0.71338606911949],"aabb_xy":[[0.44309900751824216,-2.0043279048742697],[0.5710990020895395,-1.9213144669685815]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.06823765076836441,0.5717690572078031,0.71338606911949],"aabb_xy":[[-0.10270012878145217,0.5651053800248802],[-0.033775172755276625,0.5784327343907258]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[0.4094686765823312,-0.28410681489715905,0.71338606911949],"aabb_xy":[[0.40337404869421295,-0.2926762094488278],[0.4155633044704496,-0.27553742034549034]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.4526818651544118,0.302540412665961,0.71338606911949],"aabb_xy":[[0.43018186514426343,0.28844419302635765],[0.47518186516456,0.3166366323055642]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[-0.6147500522087188,-0.07482408923013795,0.71338606911949],"aabb_xy":[[-0.664733002396198,-0.12482408887269836],[-0.5647671020212394,-0.024824089587577546]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.21978580094544187,0.9317879682659185,0.71338606911949],"aabb_xy":[[0.20894532271892693,0.9146016869752697],[0.23062627917195674,0.9489742495565673]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.5742070676191392,-2.4373702918808777,0.71338606911949],"aabb_xy":[[-0.5835540752014344,-2.451673914098522],[-0.564860060036844,-2.423066669663234]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[0.6006479674541285,0.7845083743813075,0.71338606911949],"aabb_xy":[[0.5366479681599603,0.7205222340124532],[0.6646479667482967,0.8484945147501616]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[-0.5022907990454407,-0.645438871927831,0.71338606911949],"aabb_xy":[[-0.5248044908688978,-0.7154388725288385],[-0.4797771072219834,-0.5754388713268235]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.449260687127785,1.2771347084499887,0.71338606911949],"aabb_xy":[[-0.4792282440376107,1.2471347081521027],[-0.4192931302179594,1.3071347087478742]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.4634816869096565,0.3296948038780809,0.71338606911949],"aabb_xy":[[-0.5534816905865746,0.2682623973009765],[-0.3734816832327383,0.39112721045518517]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[-0.029156911448581124,-0.29257519217422745,0.71338606911949],"aabb_xy":[[-0.03307078464400365,-0.3013242075807842],[-0.0252430382531586,-0.2838261767676707]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.47191107507160945,-1.294685878082751,0.71338606911949],"aabb_xy":[[-0.5219060860310615,-1.344685877118343],[-0.42191606411215743,-1.2446858790471595]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[-0.17059412784294226,0.32270097073156423,0.71338606911949],"aabb_xy":[[-0.21184293887285696,0.2677009712193467],[-0.1293453168130275,0.37770097024378163]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[-0.6006943430851451,-0.8236610694770912,0.71338606911949],"aabb_xy":[[-0.6176050755214868,-0.8371332750697056],[-0.5837836106488032,-0.8101888638844765]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[-0.30753650841403424,0.10833690255299944,0.71338606911949],"aabb_xy":[[-0.3715365104637662,0.06824241946369146],[-0.24353650636430219,0.1484313856423074]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[0.6666257260360449,-1.1403371509440345,0.71338606911949],"aabb_xy":[[0.6593819599897995,-1.220337149147637],[0.6738694920822902,-1.0603371527404322]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.22710796225280572,0.49734330562063356,0.71338606911949],"aabb_xy":[[-0.2971079638550852,0.483910512418976],[-0.15710796065052626,0.5107760988222911]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[-0.055498349658245516,-1.6303472368355338,0.71338606911949],"aabb_xy":[[-0.10951394594014552,-1.694347239727791],[-0.0014827533763455067,-1.5663472339432767]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658319393647721,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6468.png","name":"6468"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6468.png","name":"6468"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9034.png","name":"9034"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9794.png","name":"9794"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8286.png","name":"8286"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6260.png","name":"6260"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":577.0367899449114,"rotation_z_degrees":86.35444686443579,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005818561724769803,-0.018866183465617598,-0.001913732563859575]},{"name":"camera_2","offset_m":[-0.011482536604835988,0.000488407409602553,-0.010955230129070386]},{"name":"camera_3","offset_m":[-0.006381337686257571,0.001168809389985044,0.0038088147423556186]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001036284221231561,0.0008001270759074672,0.0007880878758906081],"end_effector_yaw_offset_degrees":-0.5287091008877005},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019591788695409885,-0.0013253666003970256,-0.0015423481037185973],"end_effector_yaw_offset_degrees":-0.34653831398226753},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001893107800494359,-0.0011942059083257075,-0.0011076160489493492],"end_effector_yaw_offset_degrees":0.8502211543371592}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012617842936871872,0.0029148448185786777],"position_m":[0.20233821570631283,-0.042885155181421324,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000640835283927322,-0.0008561746344909679],"position_m":[0.23415916471607268,-0.3644561746344909,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002515143555352276,-0.0036216824765037438],"position_m":[0.16678485644464772,0.22647831752349626,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017023441960764673,0.0047396596508130695],"position_m":[0.33550234419607644,0.12243965965081306,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b3fa9bf643fba45a5f0d965b0a277c3720daf099f975750a479492ac5b576c9b","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6468/tex_ceiling_textures_6260/tex_floor_textures_8286/tex_table_textures_9034/tex_wall_textures_9794","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7168978521552452369,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7168978521552452369,"visual_seed":7168978521552452369,"scene_id":"lab_003","finished_at":"2026-09-04T08:15:40"}
+{"episode_id":"ep_000044","started_at":"2026-09-04T08:15:43","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.16471259619686207,1.417307951598834,0.71338606911949],"aabb_xy":[[-0.19971259609288095,1.408933716086894],[-0.1297125963008432,1.425682187110774]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[0.3562790855014619,1.4510267937074084,0.71338606911949],"aabb_xy":[[0.30627908448232666,1.4145605779695805],[0.40627908652059724,1.4874930094452363]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.035810702234899794,-1.203280539435262,0.71338606911949],"aabb_xy":[[-0.08529112344885859,-1.2672805373481137],[0.013669718979058998,-1.13928054152241]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.6796325090718591,1.3892938342640169,0.71338606911949],"aabb_xy":[[0.6626224117818084,1.373159345765743],[0.6966426063619097,1.4054283227622908]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.08666140300105418,0.3405720913091663,0.71338606911949],"aabb_xy":[[-0.15066140370452352,0.2945537088362453],[-0.022661402297584832,0.3865904737820874]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.5320151001767018,1.6702399886263888,0.71338606911949],"aabb_xy":[[-0.5676442560766616,1.634607321869536],[-0.4963859442767421,1.705872655383242]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[0.018803335825235745,-0.6287122669555747,0.71338606911949],"aabb_xy":[[0.0009342280707802554,-0.6425451749327855],[0.03667244357969124,-0.6148793589783637]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.42832872958223844,0.3048628459765532,0.71338606911949],"aabb_xy":[[0.39183290895495965,0.26837890354979566],[0.46482455020951713,0.3413467884033108]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[-0.41734715867093397,-1.8477126898903014,0.71338606911949],"aabb_xy":[[-0.4673471596214667,-1.8792618368938225],[-0.3673471577204011,-1.8161635428867797]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.3511628046954529,-1.9740566118739085,0.71338606911949],"aabb_xy":[[0.3177226294994332,-2.007500237704838],[0.3846029798914724,-1.9406129860429782]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[0.2467532591761098,1.675303983349608,0.71338606911949],"aabb_xy":[[0.2414207445214968,1.6699796551043726],[0.2520857738307228,1.6806283115948437]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.6071844482139864,-0.46604176357141913,0.71338606911949],"aabb_xy":[[-0.6126423938510064,-0.5460417668790782],[-0.6017265025769662,-0.38604176026375997]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[0.42253318851362076,-1.611899486980825,0.71338606911949],"aabb_xy":[[0.41909251227356364,-1.6157609199551897],[0.425973864753678,-1.6080380540064607]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.028870914309793272,-2.4007270380564187,0.71338606911949],"aabb_xy":[[-0.09287091457026407,-2.4457358374093463],[0.03512908595067753,-2.3557182387034903]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[-0.34870407567093326,-0.924264719013633,0.71338606911949],"aabb_xy":[[-0.39869908663038534,-0.9742647180492249],[-0.29870906471148123,-0.8742647199780414]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[0.4759809872684566,-0.17931414090246856,0.71338606911949],"aabb_xy":[[0.3922587617683741,-0.2693141444371645],[0.5597032127685391,-0.08931413736777263]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.5687710520878109,-2.288875347525011,0.71338606911949],"aabb_xy":[[-0.6327710524653445,-2.338620614375823],[-0.5047710517102773,-2.2391300806741983]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.0818323809117052,-2.1481081296407005,0.71338606911949],"aabb_xy":[[-0.17183238458862335,-2.209540536217804],[0.008167622765212988,-2.0866757230635953]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[-0.6747838695110334,-2.4267030278585753,0.71338606911949],"aabb_xy":[[-0.6922838687891203,-2.4440411279249212],[-0.6572838702329465,-2.4093649277922293]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.4636119140582282,0.9385778212122107,0.71338606911949],"aabb_xy":[[0.3936119124559487,0.9251450280105531],[0.5336119156605077,0.9520106144138683]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.3666886489905233,-2.3077654098737455,0.71338606911949],"aabb_xy":[[-0.42668864958653946,-2.362577882418969],[-0.3066886483945071,-2.252952937328522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6643648769321591,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8661.png","name":"8661"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8661.png","name":"8661"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8841.png","name":"8841"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8034.png","name":"8034"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5781.png","name":"5781"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8294.png","name":"8294"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":610.6203847324508,"rotation_z_degrees":274.9386642282604,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005444706824059519,-0.019167095833638875,0.014137411055168709]},{"name":"camera_2","offset_m":[-0.0163801766729608,0.0013522729897857619,0.005942208513567689]},{"name":"camera_3","offset_m":[0.01576767963162185,0.0030536609939225863,0.01753143763754963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012457688770279446,0.00027730153063586487,-0.0010613199314801983],"end_effector_yaw_offset_degrees":-0.5396863528690177},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-9.203235302137746e-06,0.00017684881909858135,-2.2777784528171894e-05],"end_effector_yaw_offset_degrees":-0.4770540766100606},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001896976044947504,0.0007148530455746843,-0.001731754731992802],"end_effector_yaw_offset_degrees":0.6988611275616095}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031033654003531485,0.004448979158212117],"position_m":[0.20049663459964687,-0.041351020841787885,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[3.4817925382018763e-05,0.002873727915249807],"position_m":[0.23483481792538202,-0.36072627208475017,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00041513282684548306,-0.002332747806247245],"position_m":[0.1697151328268455,0.22776725219375277,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034401354557483045,0.0023743019378516536],"position_m":[0.3303598645442517,0.12007430193785165,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"05de8f6bc10e323898a3479e00e6719d1cb364a7efcf3aa9a022b81d0ab7037f","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8661/tex_ceiling_textures_8294/tex_floor_textures_5781/tex_table_textures_8841/tex_wall_textures_8034","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2516053813619048889,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2516053813619048889,"visual_seed":2516053813619048889,"scene_id":"lab_003","finished_at":"2026-09-04T08:18:22"}
+{"episode_id":"ep_000045","started_at":"2026-09-04T08:18:25","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.37429547317290845,-0.18802213042063887,0.71338606911949],"aabb_xy":[[0.3702173152658587,-0.19210311066890218],[0.3783736310799582,-0.18394115017237556]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[0.49959374929662914,1.566267655262426,0.71338606911949],"aabb_xy":[[0.46209374935286274,1.5579745652275891],[0.5370937492403955,1.5745607452972623]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.4979210305219251,-2.0594895667209165,0.71338606911949],"aabb_xy":[[-0.5478940960544405,-2.10948956653345],[-0.4479479649894097,-2.009489566908384]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.37250529726183956,0.4899334791036152,0.71338606911949],"aabb_xy":[[-0.38386703191512567,0.4785650126973271],[-0.36114356260855335,0.5013019455099033]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.46430517095463086,-0.45895127031708727,0.71338606911949],"aabb_xy":[[0.4143051699354956,-0.4954174860549152],[0.5143051719737661,-0.42248505457925933]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.6755179293636838,-1.3331397126324838,0.71338606911949],"aabb_xy":[[-0.6901613349177168,-1.347798432289268],[-0.6608745238096508,-1.3184809929756995]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[-0.31511455902935376,-2.2594702055244578,0.71338606911949],"aabb_xy":[[-0.39511456228719666,-2.3394667133164417],[-0.23511455577151075,-2.179473697732474]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.6455397076325283,-0.7399177137199695,0.71338606911949],"aabb_xy":[[-0.682035528259807,-0.7764016561467271],[-0.6090438870052495,-0.7034337712932119]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[-0.18604506274074628,-1.3589633307392275,0.71338606911949],"aabb_xy":[[-0.23104506420697515,-1.4039631876007084],[-0.14104506127451744,-1.313963473877747]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.3776063963924302,-0.8291938475737406,0.71338606911949],"aabb_xy":[[-0.43260187421308954,-0.8841938490076474],[-0.32261091857177077,-0.7741938461398336]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[-0.6371769588057568,1.317596963266154,0.71338606911949],"aabb_xy":[[-0.6634657831261973,1.2913255296115025],[-0.610888134485316,1.343868396920805]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.6777908156052941,-1.5741849615313572,0.71338606911949],"aabb_xy":[[0.6402908171818937,-1.5873491754991873],[0.7152908140286944,-1.5610207475635263]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[-0.0854464531188236,0.5334661464415089,0.71338606911949],"aabb_xy":[[-0.1353291499965198,0.4834661471952342],[-0.03556375624112739,0.5834661456877837]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[0.357175123113874,1.0411655076034103,0.71338606911949],"aabb_xy":[[0.33467512359016655,1.0186695601527893],[0.37967512263758135,1.0636614550540309]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.1601312559723902,-0.8875512329896986,0.71338606911949],"aabb_xy":[[0.12158556314718916,-0.9260970040458871],[0.19867694879759124,-0.8490054619335099]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[-0.24706470503896455,-1.7869195967021634,0.71338606911949],"aabb_xy":[[-0.264495420117971,-1.804191711366014],[-0.229633989959958,-1.7696474820383123]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[-0.11377738058924769,1.0588338167523332,0.71338606911949],"aabb_xy":[[-0.13127738083429705,1.0413340289127662],[-0.09627738034419829,1.0763336045918999]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.43120201817441384,-0.2720400370822724,0.71338606911949],"aabb_xy":[[0.42574407253739377,-0.3520400403899315],[0.4366599638114339,-0.19204003377461326]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.280623772650741,1.2442160859142142,0.71338606911949],"aabb_xy":[[0.2719258103600258,1.2320911116067392],[0.28932173494145635,1.2563410602216887]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.4822680052220205,0.152724174716806,0.71338606911949],"aabb_xy":[[0.47049981842736305,0.06772417481158445],[0.4940361920166781,0.2377241746220276]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[-0.3124000241014063,-1.2325662214083546,0.71338606911949],"aabb_xy":[[-0.3302691318558619,-1.2463991293855656],[-0.2945309163469509,-1.2187333134311436]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.2774373593799726,1.7747321322399086,0.71338606911949],"aabb_xy":[[-0.34243735941427533,1.7280314555595815],[-0.21243735934566987,1.821432808920236]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6634824487631082,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2330.png","name":"2330"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2330.png","name":"2330"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/184.png","name":"184"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/68.png","name":"68"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9517.png","name":"9517"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":561.5403924366469,"rotation_z_degrees":115.07210726877713,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006309239304996168,-0.007995673773512735,-0.009476138199238262]},{"name":"camera_2","offset_m":[-0.010707317589854517,0.00042604917124093936,-0.016419057732538326]},{"name":"camera_3","offset_m":[0.012026241343199243,0.01586104614301041,-0.004049564227878447]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006756336055531809,0.000146227113740498,-0.0006623107560101414],"end_effector_yaw_offset_degrees":-0.6251937905299336},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017605510257482273,-0.00051774142454114,0.0019751327247077973],"end_effector_yaw_offset_degrees":0.770562631400104},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016715007147509566,-0.0010809402028072613,0.0012895248923454942],"end_effector_yaw_offset_degrees":-0.8037702986655404}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004053777595087027,4.177972345247548e-05],"position_m":[0.199546222404913,-0.04575822027654752,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013106750152515967,0.0024197193486072133],"position_m":[0.23348932498474842,-0.36118028065139274,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-6.95756163678644e-05,-0.004164419723031902],"position_m":[0.16923042438363214,0.22593558027696808,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037424472160588326,-0.003776684978331182],"position_m":[0.3375424472160588,0.11392331502166882,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"abca3b1b96e87387608a2963a3092a74f09f6828ed30667f7ae1bb40dd787f2f","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0045.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2330/tex_ceiling_textures_9517/tex_floor_textures_68/tex_table_textures_9650/tex_wall_textures_184","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4494730041823478478,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4494730041823478478,"visual_seed":4494730041823478478,"scene_id":"lab_003","finished_at":"2026-09-04T08:21:11"}
+{"episode_id":"ep_000046","started_at":"2026-09-04T08:21:15","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.5125546101688956,0.09021797043147695,0.71338606911949],"aabb_xy":[[-0.5625546118303902,0.040219528175774226],[-0.46255460850740077,0.14021641268717963]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[0.5662605481697021,0.37599851911004967,0.71338606911949],"aabb_xy":[[0.5162763124615247,0.3259985202965541],[0.6162447838778792,0.42599851792354526]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.04397550044651921,1.6954419585555338,0.71338606911949],"aabb_xy":[[-0.10397550208944106,1.6434418092635898],[0.016024501196402634,1.7474421078474782]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.4855105715106467,-0.8554355167360252,0.71338606911949],"aabb_xy":[[-0.4925520224613943,-0.8624622684738199],[-0.4784691205598991,-0.8484087649982308]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[0.4639847167825464,-2.2450113983935047,0.71338606911949],"aabb_xy":[[0.44106900389749654,-2.267915695529928],[0.48690042966759634,-2.222107101257081]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[-0.33345528066097313,-2.122159898276742,0.71338606911949],"aabb_xy":[[-0.3516611043222208,-2.1331852988587334],[-0.31524945699972545,-2.11113449769475]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[0.6177238098820379,-0.4385012141608109,0.71338606911949],"aabb_xy":[[0.5952238096385225,-0.4507058488205829],[0.6402238101255533,-0.426296579501039]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.3108044736843,1.7564850429220136,0.71338606911949],"aabb_xy":[[-0.3908044739579069,1.683535495096297],[-0.23080447341069296,1.8294345907477305]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[0.2962674960326427,-1.3974185275909141,0.71338606911949],"aabb_xy":[[0.2162674988730674,-1.4089661285487314],[0.37626749319221797,-1.3858709266330973]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[-0.6247431183414743,-0.27808811244843623,0.71338606911949],"aabb_xy":[[-0.6897431183757772,-0.3247887891287635],[-0.5597431183071717,-0.23138743576810894]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.3119941344341728,1.5384000794343655,0.71338606911949],"aabb_xy":[[0.26418796682040413,1.4734000767273063],[0.35980030204794144,1.603400082141424]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.5652037200650033,0.8104854820454244,0.71338606911949],"aabb_xy":[[0.515230654532488,0.7604854822328916],[0.6151767855975189,0.8604854818579574]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[-0.42724072464988333,0.8049164669328115,0.71338606911949],"aabb_xy":[[-0.4682586680362542,0.7549164663018542],[-0.38622278126351245,0.8549164675637688]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.6053935714006393,-2.3827650517845207,0.71338606911949],"aabb_xy":[[0.5710772942260213,-2.432765051757699],[0.6397098485752571,-2.3327650518113434]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.2333473242844335,1.4058034066691159,0.71338606911949],"aabb_xy":[[-0.2510229548730317,1.3881231903897129],[-0.2156716936958351,1.4234836229485184]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.09498771276566698,-1.4486862156976243,0.71338606911949],"aabb_xy":[[0.03098771250519616,-1.4936950150505521],[0.15898771302613776,-1.4036774163446961]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[-0.08128891074029909,0.9689664639644948,0.71338606911949],"aabb_xy":[[-0.08891317883047734,0.9613332404279512],[-0.07366464265012085,0.9765996875010386]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[-0.3351699896274282,1.5570899619879532,0.71338606911949],"aabb_xy":[[-0.3812550808821597,1.4930899647353981],[-0.28908489837269674,1.6210899592405084]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.4354871983881241,-0.7096203928834068,0.71338606911949],"aabb_xy":[[0.43053117820324294,-0.7321203930855286],[0.4404432185730053,-0.6871203926812853]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[0.23500793362702344,-1.2858295827795605,0.71338606911949],"aabb_xy":[[0.1975079352036231,-1.2989937967473908],[0.2725079320504238,-1.2726653688117298]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.4640781863461485,-2.0780465522539777,0.71338606911949],"aabb_xy":[[0.4485224169358833,-2.093596985498385],[0.4796339557564138,-2.0624961190095705]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[-0.28207006643822335,-0.6207068636954503,0.71338606911949],"aabb_xy":[[-0.33206507739767543,-0.6707068627310421],[-0.23207505547877139,-0.5707068646598586]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[0.04743560854270856,-1.2460337444123706,0.71338606911949],"aabb_xy":[[0.004668901663288379,-1.3100337478341728],[0.09020231542212875,-1.182033740990568]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_23","position":[0.5921563563760099,1.4923011692176709,0.71338606911949],"aabb_xy":[[0.5643113195954028,1.4615166704793592],[0.6200013931566171,1.5230856679559825]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681819778675635,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9660.png","name":"9660"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9660.png","name":"9660"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/483.png","name":"483"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/47.png","name":"47"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6066.png","name":"6066"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9683.png","name":"9683"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":831.9491934971231,"rotation_z_degrees":74.31607622633625,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014220375170083972,-0.01952212399262315,-0.018698120094212338]},{"name":"camera_2","offset_m":[-0.012963948172958265,-0.013501173145068584,-0.0038596483171489393]},{"name":"camera_3","offset_m":[0.00070622495191568,0.014343943526665796,-0.016037965659539476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001793911516872623,-0.0012271418264931638,-0.001084954233890691],"end_effector_yaw_offset_degrees":0.1040862214885625},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00136675382033473,0.0005305389614680398,-0.0006017713179551668],"end_effector_yaw_offset_degrees":-0.22234857226295235},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001731087015300528,-0.00029549774468512046,0.0008568885061562329],"end_effector_yaw_offset_degrees":-0.1195663015277868}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004660300608620456,0.00438203656111959],"position_m":[0.20826030060862047,-0.04141796343888041,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022610364548293982,-0.0007087780196272184],"position_m":[0.2370610364548294,-0.3643087780196272,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00493411791490793,0.002902428280930091],"position_m":[0.17423411791490795,0.2330024282809301,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00325025549506277,0.0038486872369744305],"position_m":[0.33705025549506273,0.12154868723697443,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ca6c423e2b300a17c756adae5ea36a6b992069e180743c90acdbf81a15f6ca4","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0046.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9660/tex_ceiling_textures_9683/tex_floor_textures_6066/tex_table_textures_483/tex_wall_textures_47","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2624519920986290759,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2624519920986290759,"visual_seed":2624519920986290759,"scene_id":"lab_003","finished_at":"2026-09-04T08:24:12"}
+{"episode_id":"ep_000047","started_at":"2026-09-04T08:24:19","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.4724556896900737,-1.557268215057514,0.71338606911949],"aabb_xy":[[-0.552455687093667,-1.637260786255697],[-0.39245569228648025,-1.4772756438593313]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[-0.362026456607367,-1.288713710283561,0.71338606911949],"aabb_xy":[[-0.42602645989707505,-1.3320486292874787],[-0.2980264533176588,-1.2453787912796435]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[-0.5077582842415205,0.5227632502936874,0.71338606911949],"aabb_xy":[[-0.5382425343685506,0.4727632505121915],[-0.4772740341144903,0.5727632500751834]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[0.5110072143145983,-0.5259965846196577,0.71338606911949],"aabb_xy":[[0.5037248979379345,-0.6159965882291665],[0.5182895306912618,-0.43599658101014854]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.4492014216042348,-1.1456331390790262,0.71338606911949],"aabb_xy":[[0.44107373341092154,-1.1545467474897342],[0.457329109797548,-1.1367195306683187]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[-0.0843592173619323,0.3742956779177615,0.71338606911949],"aabb_xy":[[-0.093161272670905,0.3664843517628324],[-0.07555716205295958,0.38210700407269055]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[-0.10438783760572834,-2.3226218613278284,0.71338606911949],"aabb_xy":[[-0.1543611316089888,-2.3726218618823753],[-0.05441454360246789,-2.2726218607732807]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[0.5670333834786929,-2.2626940714185677,0.71338606911949],"aabb_xy":[[0.5030333861763464,-2.307060498386424],[0.6310333807810392,-2.2183276444507105]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[0.6148129917694709,0.8552704649676648,0.71338606911949],"aabb_xy":[[0.589812991836953,0.8483877967467415],[0.6398129917019888,0.8621531331885881]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[-0.26262838595167476,-0.4718850913415187,0.71338606911949],"aabb_xy":[[-0.2801283850860419,-0.48176471837910645],[-0.24512838681730756,-0.4620054643039308]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[0.054057606851424245,-2.2409462057635907,0.71338606911949],"aabb_xy":[[0.009057605385195395,-2.285946062625072],[0.09905760831765312,-2.1959463489021105]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.27207306252129404,1.4727326236184326,0.71338606911949],"aabb_xy":[[0.2648118149508867,1.4599456133549231],[0.2793343100917015,1.485519633881942]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.2712929812005942,-1.9049193308050447,0.71338606911949],"aabb_xy":[[0.2632667105699682,-1.9136708257823971],[0.2793192518312202,-1.8961678358276919]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.6432377712506223,0.47067046471747087,0.71338606911949],"aabb_xy":[[-0.6682377704162554,0.4637182190121143],[-0.6182377720849892,0.47762271042282745]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.19888879106280472,-1.7088662814648679,0.71338606911949],"aabb_xy":[[-0.22410962792264433,-1.7340900323177546],[-0.173667954202965,-1.683642530611981]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.09351015607493274,-1.6806105010892773,0.71338606911949],"aabb_xy":[[0.043515323146991136,-1.7306104999845213],[0.14350498900287434,-1.6306105021940343]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[-0.35962958575591286,-0.28143026813270033,0.71338606911949],"aabb_xy":[[-0.37706030083491926,-0.2987023827965511],[-0.34219887067690624,-0.26415815346884947]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[0.5231123170644449,1.3275317866109058,0.71338606911949],"aabb_xy":[[0.4731280813562677,1.2775317877974102],[0.5730965527726222,1.3775317854244014]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.5564662249943316,1.0587215071847362,0.71338606911949],"aabb_xy":[[-0.5708006501204952,1.0466612916301974],[-0.5421317998681683,1.070781722739275]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[-0.10362519853929819,-2.0476593506399823,0.71338606911949],"aabb_xy":[[-0.1676251978334664,-2.1116454910088365],[-0.03962519924512997,-1.983673210271128]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.0735265516119128,1.220557463475516,0.71338606911949],"aabb_xy":[[-0.09543523375126384,1.1986567966554253],[-0.05161786947256175,1.2424581302956068]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[-0.6110907532272364,1.6929044453246118,0.71338606911949],"aabb_xy":[[-0.6750907554476434,1.6485313611993235],[-0.5470907510068294,1.7372775294499]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[0.1312157634726736,0.8613257127645757,0.71338606911949],"aabb_xy":[[0.11515383601415595,0.7763257109519838],[0.14727769093119122,0.9463257145771674]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.4350084955410345,-1.021604133344269,0.71338606911949],"aabb_xy":[[0.3734177363170417,-1.0856041314533158],[0.49659925476502736,-0.957604135235222]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670606886214483,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7791.png","name":"7791"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7791.png","name":"7791"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6811.png","name":"6811"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7171.png","name":"7171"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1469.png","name":"1469"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8013.png","name":"8013"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":511.4520733292452,"rotation_z_degrees":117.79900877742593,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006991140721855756,-0.018697097328040684,-0.011627845427283097]},{"name":"camera_2","offset_m":[-0.0010209067010914022,-0.007008466043027139,0.017137964345939023]},{"name":"camera_3","offset_m":[-0.009549969642937665,-0.01140615546338236,0.0016827382845439644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000950526802436001,-0.0004723327399852972,-0.00038688900207164956],"end_effector_yaw_offset_degrees":-0.7988429116277709},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011295616001756091,0.0010928563693650018,-0.0009687151273129774],"end_effector_yaw_offset_degrees":-0.9388119808744861},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006602202447708399,9.883765499328016e-05,-0.0006153182552515264],"end_effector_yaw_offset_degrees":-0.21923082612423928}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036340963418650682,-0.004182096880231804],"position_m":[0.19996590365813494,-0.04998209688023181,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0043169847421259564,0.004550742029798921],"position_m":[0.23911698474212598,-0.35904925797020104,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004743381696883204,-0.0007197398255712126],"position_m":[0.1645566183031168,0.22938026017442878,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[4.685299342253261e-05,0.0027508357987484277],"position_m":[0.33384685299342254,0.12045083579874842,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8bb90a414a3c308e6f1fb459239f2c7832cf50d08b8391462440ceb3ae66bf11","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0047.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7791/tex_ceiling_textures_8013/tex_floor_textures_1469/tex_table_textures_6811/tex_wall_textures_7171","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2470084958381458061,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2470084958381458061,"visual_seed":2470084958381458061,"scene_id":"lab_003","finished_at":"2026-09-04T08:26:59"}
+{"episode_id":"ep_000048","started_at":"2026-09-04T08:27:02","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.39139973508531795,0.36543454641123896,0.71338606911949],"aabb_xy":[[-0.3953602188550524,0.35776668182571836],[-0.3874392513155836,0.37310241099675956]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.5791751448986129,-1.310845053552422,0.71338606911949],"aabb_xy":[[-0.6291539534089288,-1.360845053558141],[-0.529196336388297,-1.2608450535467033]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.2564752015529246,1.1513997677687628,0.71338606911949],"aabb_xy":[[0.24769397440568847,1.1426200204802328],[0.2652564287001609,1.1601795150572933]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.4557480796403568,-1.0912786691901075,0.71338606911949],"aabb_xy":[[0.39074807960605407,-1.137979345870435],[0.5207480796746595,-1.0445779925097805]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[0.22438813135223534,-1.3106187777844425,0.71338606911949],"aabb_xy":[[0.21995750199739517,-1.3160671495191252],[0.22881876070707552,-1.3051704060497602]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.17130814449536125,-2.434162231199763,0.71338606911949],"aabb_xy":[[0.13380814432348928,-2.46686296658267],[0.20880814466723316,-2.4014614958168554]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.031077916176249665,-2.055908848491632,0.71338606911949],"aabb_xy":[[-0.00455123972371008,-2.0915415152484846],[0.0667070720762094,-2.0202761817347787]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.5122461306590804,0.9822062194148007,0.71338606911949],"aabb_xy":[[0.4993742271581402,0.9022062190009644],[0.5251180341600205,1.0622062198286366]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[0.5434407018657812,-0.467804072201889,0.71338606911949],"aabb_xy":[[0.47844070090865404,-0.5197522841355945],[0.6084407028229084,-0.4158558602681834]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[-0.041388624093861126,-1.4876698465452565,0.71338606911949],"aabb_xy":[[-0.07486779135490207,-1.5211489599163635],[-0.00790945683282019,-1.4541907331741495]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.018993336737012645,0.5603170340000911,0.71338606911949],"aabb_xy":[[-0.028624972957442263,0.5506797212203822],[-0.009361700516583027,0.5699543467798001]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.6138349390486006,0.0913066781204539,0.71338606911949],"aabb_xy":[[-0.6246079129699684,0.05630667990141491],[-0.6030619651272329,0.12630667633949288]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[0.22919041119227257,-0.9088837731917245,0.71338606911949],"aabb_xy":[[0.16919041068441962,-0.9657305068776458],[0.28919041170012544,-0.8520370395058032]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.5673344546321692,-2.429637763294033,0.71338606911949],"aabb_xy":[[-0.5849672902256967,-2.4472607093096554],[-0.5497016190386416,-2.4120148172784095]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[-0.45694265413958113,-0.7373890526234639,0.71338606911949],"aabb_xy":[[-0.48022449633771236,-0.8223890539206917],[-0.4336608119414497,-0.6523890513262356]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[0.010985493173545358,1.3882241932565842,0.71338606911949],"aabb_xy":[[-0.03031904989019063,1.324224193688467],[0.052290036237281345,1.4522241928247013]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.03469198197218293,-1.7514135597476408,0.71338606911949],"aabb_xy":[[0.001251806776163322,-1.7848571855785706],[0.06813215716820252,-1.7179699339167105]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[0.07645133719517283,-1.096903767396559,0.71338606911949],"aabb_xy":[[0.05286621373127799,-1.1619037696419907],[0.1000364606590677,-1.0319037651511271]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[-0.39029414757452885,0.22761045577932748,0.71338606911949],"aabb_xy":[[-0.4011999236620916,0.14761045938049833],[-0.3793883714869662,0.30761045217815663]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[0.3813623110059794,-1.2314417192070168,0.71338606911949],"aabb_xy":[[0.3513947540961537,-1.2614417195049024],[0.41132986791580506,-1.2014417189091309]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[0.21594238321886206,1.0117840541609042,0.71338606911949],"aabb_xy":[[0.1707710653706931,0.947784057016366],[0.261113701067031,1.0757840513054429]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.19763034841577554,1.297104483800661,0.71338606911949],"aabb_xy":[[0.18575826540427443,1.2121044841070105],[0.20950243142727665,1.3821044834943113]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.48253796700613516,1.4222553936607558,0.71338606911949],"aabb_xy":[[0.41753796600563464,1.3714690285060809],[0.5475379680066357,1.4730417588154308]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[0.43656821198708573,-0.22733238859989235,0.71338606911949],"aabb_xy":[[0.4079188796266694,-0.25597794787696815],[0.46521754434750184,-0.19868682932281653]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[0.47256949358851585,0.5601665868174455,0.71338606911949],"aabb_xy":[[0.4565075661299982,0.4751665850048536],[0.4886314210470335,0.6451665886300372]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[0.323149344083125,0.4043498039199003,0.71338606911949],"aabb_xy":[[0.3072648508177998,0.38999686362107616],[0.3390338373484501,0.4187027442187243]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_26","position":[-0.39219895274911676,-1.7629494462822515,0.71338606911949],"aabb_xy":[[-0.4233458715926999,-1.8329494449690584],[-0.36105203390553364,-1.692949447595444]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[-0.1079038851722316,-1.9803018065891547,0.71338606911949],"aabb_xy":[[-0.15778658204992782,-2.0303018058354296],[-0.05802118829453541,-1.9303018073428804]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[0.6639298006466947,1.4695180551481086,0.71338606911949],"aabb_xy":[[0.6514624425369591,1.4570527305147851],[0.6763971587564304,1.4819833797814321]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_29","position":[-0.21171972101445885,-1.4184610870843188,0.71338606911949],"aabb_xy":[[-0.22041768330517414,-1.4305860613917936],[-0.20302175872374356,-1.4063361127768441]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[-0.37915554583387767,1.4161828773648675,0.71338606911949],"aabb_xy":[[-0.42915554527407324,1.3662149528805512],[-0.329155546393682,1.4661508018491838]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_31","position":[0.06451724127129155,-1.4396037892778062,0.71338606911949],"aabb_xy":[[0.058205141734953114,-1.4453707285310253],[0.07082934080762998,-1.4338368500245875]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_32","position":[0.21922320207181512,1.4590880672628495,0.71338606911949],"aabb_xy":[[0.20881164339133138,1.453742333926951],[0.2296347607522988,1.4644338005987478]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_33","position":[0.25727673531257933,0.7356681207606837,0.71338606911949],"aabb_xy":[[0.2022767361359898,0.6806784459857259],[0.31227673448916876,0.7906577955356412]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_34","position":[-0.46133377889230287,-2.2357538460293096,0.71338606911949],"aabb_xy":[[-0.4972472833172925,-2.271667354246064],[-0.4254202744673131,-2.1998403378125544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6683887493334972,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1215.png","name":"1215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1537.png","name":"1537"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3725.png","name":"3725"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9900.png","name":"9900"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":531.7360155367367,"rotation_z_degrees":38.18062998885349,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0040997134574762145,0.0031777435653630344,-0.004900023289056992]},{"name":"camera_2","offset_m":[-0.011184649136318439,0.018468154449288576,-0.005300199251097376]},{"name":"camera_3","offset_m":[-0.002728571560671137,-0.008262337652660183,-0.00658296171549083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016612199372185552,-0.0017833400405579646,-0.001665562727803941],"end_effector_yaw_offset_degrees":-0.6731798020551518},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017840205501669702,-0.0018836031905013423,0.001768643040621754],"end_effector_yaw_offset_degrees":0.5352143274254746},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009024815295286506,0.0016749215923782513,-0.0005438943400281593],"end_effector_yaw_offset_degrees":-0.23651635589406594}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004778290510551731,-0.0038092576994213844],"position_m":[0.19882170948944827,-0.049609257699421386,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016528435850864396,-0.002020279396669992],"position_m":[0.23645284358508645,-0.36562027939666997,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028103834822151806,-0.003288703435873165],"position_m":[0.16648961651778482,0.22681129656412682,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001879824194144797,-0.0018887374441171824],"position_m":[0.3319201758058552,0.11581126255588281,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"95c5de0cfd1c95f0a84dc4c9e642cfa930fd24cc142b3dd5a229ecec49608164","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9650/tex_ceiling_textures_9900/tex_floor_textures_3725/tex_table_textures_1215/tex_wall_textures_1537","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5213574747002410444,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5213574747002410444,"visual_seed":5213574747002410444,"scene_id":"lab_003","finished_at":"2026-09-04T08:29:57"}
+{"episode_id":"ep_000049","started_at":"2026-09-04T08:30:00","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.17376819511964925,-0.3161853736207365,0.71338606911949],"aabb_xy":[[-0.2377681970319916,-0.37209652287874695],[-0.10976819320730691,-0.26027422436272607]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[-0.48801941227519385,-1.6217486392804437,0.71338606911949],"aabb_xy":[[-0.4954318678165823,-1.6275998497020716],[-0.4806069567338054,-1.6158974288588157]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.04416685910622875,-0.7672290697912769,0.71338606911949],"aabb_xy":[[-0.08915944582467916,-0.8122290690657257],[0.0008257276122216536,-0.7222290705168282]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.12121739062570358,-1.676419690930629,0.71338606911949],"aabb_xy":[[0.056217387987910095,-1.7278992896300762],[0.18621739326349707,-1.6249400922311823]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.3118789724719061,-0.9031236451442988,0.71338606911949],"aabb_xy":[[-0.401878971890277,-0.9364991419884885],[-0.2218789730535352,-0.869748148300109]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.5712788302334484,-2.467926614224795,0.71338606911949],"aabb_xy":[[-0.5887788304927851,-2.482018156413568],[-0.5537788299741119,-2.4538350720360227]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[0.254022380692282,0.8240729088384358,0.71338606911949],"aabb_xy":[[0.21652238034405424,0.8122815132573521],[0.29152238104050976,0.8358643044195192]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.7089067626375949,-0.3905293377705794,0.71338606911949],"aabb_xy":[[0.6987537470834453,-0.42659887934331964],[0.719059778191744,-0.354459796197839]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[-0.4987839107302591,-1.9357191834022545,0.71338606911949],"aabb_xy":[[-0.5415506176096794,-1.9997191868240567],[-0.45601720385083894,-1.8717191799804518]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.3353816924628101,-2.294468966337284,0.71338606911949],"aabb_xy":[[-0.3394598503698598,-2.298549946585547],[-0.33130353455576034,-2.2903879860890206]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.6321056673274944,-2.154904274053068,0.71338606911949],"aabb_xy":[[-0.6546020887613584,-2.1774042738598154],[-0.6096092458936302,-2.1324042742463205]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[-0.5605509584586046,1.1131107625573207,0.71338606911949],"aabb_xy":[[-0.6405509598887318,1.0335936075447112],[-0.4805509570284774,1.1926279175699301]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[0.5759208469765822,1.4669257894729335,0.71338606911949],"aabb_xy":[[0.5688793960258346,1.459899037735139],[0.5829622979273298,1.473952541210728]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[0.41527502070563926,0.24669300979992048,0.71338606911949],"aabb_xy":[[0.3739704776419032,0.18269301023180334],[0.4565795637693752,0.3106930093680375]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.5913393169225065,1.7437741849065405,0.71338606911949],"aabb_xy":[[0.5800942613518887,1.7325323871824452],[0.6025843724931244,1.7550159826306357]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.20029513834348323,-0.9844641728384236,0.71338606911949],"aabb_xy":[[0.11029513862030903,-1.0075375253736032],[0.29029513806665735,-0.9613908203032436]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[0.5366433306297391,1.1097570776932666,0.71338606911949],"aabb_xy":[[0.49914333220633866,1.0965928637254356],[0.5741433290531394,1.122921291661097]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.3426957139245814,-1.4633891789205868,0.71338606911949],"aabb_xy":[[0.33178993783701866,-1.5433891753194162],[0.3536014900121441,-1.383389182521758]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[0.572712201945031,0.01878581130781498,0.71338606911949],"aabb_xy":[[0.557549328968094,0.003620354012696226],[0.5878750749219681,0.033951268602933744]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[-0.17747014269878392,-1.592919152935976,0.71338606911949],"aabb_xy":[[-0.20375896701922455,-1.619190586590627],[-0.15118131837834323,-1.5666477192813246]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.17583510834687155,-1.2763873574428997,0.71338606911949],"aabb_xy":[[-0.23583510894288773,-1.3311998299881231],[-0.11583510775085537,-1.2215748848976762]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[0.5616880742939425,-1.3173995982814881,0.71338606911949],"aabb_xy":[[0.5266880751639869,-1.3231448193571522],[0.5966880734238982,-1.311654377205824]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.5854422666892143,-1.2180857989148364,0.71338606911949],"aabb_xy":[[0.5204422656887137,-1.268872164069511],[0.6504422676897147,-1.1672994337601612]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[0.073984928038627,-1.3515465980467576,0.71338606911949],"aabb_xy":[[0.06908563573206349,-1.3792235173493264],[0.07888422034519048,-1.3238696787441888]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_24","position":[-0.21522465057369172,-1.1360423678017808,0.71338606911949],"aabb_xy":[[-0.22172628708169637,-1.1458101898280908],[-0.20872301406568713,-1.1262745457754713]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_25","position":[-0.21317831427669914,0.570791496888913,0.71338606911949],"aabb_xy":[[-0.29690053977678155,0.480791493354217],[-0.12945608877661666,0.6607915004236089]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[-0.24258269807905636,0.35733051331376986,0.71338606911949],"aabb_xy":[[-0.2925826990981917,0.320864297575942],[-0.19258269705992112,0.3937967290515979]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[0.6630477931146681,-0.14259198661320882,0.71338606911949],"aabb_xy":[[0.6526362344341843,-0.14793771994910726],[0.6734593517951517,-0.13724625327731033]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_28","position":[0.21095565091935797,-2.3014457765209633,0.71338606911949],"aabb_xy":[[0.17345565025477927,-2.317132834521185],[0.24845565158393668,-2.2857587185207406]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_29","position":[0.668678915985734,0.8244768811064245,0.71338606911949],"aabb_xy":[[0.6186789156251679,0.7744968938968215],[0.7186789163463,0.8744568683160274]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_30","position":[-0.5200367580919074,1.4083479950358426,0.71338606911949],"aabb_xy":[[-0.5399277979722478,1.395692183751146],[-0.5001457182115673,1.4210038063205397]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_31","position":[-0.1663817331398324,1.2488347490634308,0.71338606911949],"aabb_xy":[[-0.1772222113663473,1.231648467772782],[-0.1555412549133175,1.2660210303540793]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_32","position":[0.0710351666541934,0.9804398152008171,0.71338606911949],"aabb_xy":[[0.032489473828992387,0.9418940441446284],[0.10958085947939446,1.0189855862570059]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_33","position":[0.35849986672684087,1.6411563728738225,0.71338606911949],"aabb_xy":[[0.30850485576738884,1.591156373838231],[0.40849487768629295,1.6911563719094145]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680783563431225,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2096.png","name":"2096"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2096.png","name":"2096"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2140.png","name":"2140"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9213.png","name":"9213"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/963.png","name":"963"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/68.png","name":"68"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":727.8523705888009,"rotation_z_degrees":315.6276771337802,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00038257172156229424,-0.002794576167605308,0.011815331580809312]},{"name":"camera_2","offset_m":[0.003625686504908788,-0.000645077868545809,-0.002209989728292512]},{"name":"camera_3","offset_m":[0.009290067193445446,0.014797816908966071,0.016876100427496928]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008816327033523601,-0.0012363289483000518,0.0018002848413504525],"end_effector_yaw_offset_degrees":0.40690327371149704},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009008184079568671,3.1355350572915153e-05,0.00014213022767321],"end_effector_yaw_offset_degrees":-0.0967023501427402},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001823006570837709,-0.0002296158507406232,-0.0008739933579017399],"end_effector_yaw_offset_degrees":-0.670856810243271}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002551101919909896,-0.0007517711298322509],"position_m":[0.2010488980800901,-0.04655177112983225,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00033438684648090435,-0.004480359151125118],"position_m":[0.2344656131535191,-0.3680803591511251,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00195632027202458,-0.002920793936743984],"position_m":[0.16734367972797543,0.227179206063256,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00418185889702431,-0.00031611383859095343],"position_m":[0.32961814110297566,0.11738388616140905,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a7f73cdeb8f00d05e7cd3b7c633901c2d2a5e870a1f9cc3112a72b186bf1b746","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0049.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2096/tex_ceiling_textures_68/tex_floor_textures_963/tex_table_textures_2140/tex_wall_textures_9213","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5583401880118248189,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5583401880118248189,"visual_seed":5583401880118248189,"scene_id":"lab_003","finished_at":"2026-09-04T08:32:43"}
+{"episode_id":"ep_000050","started_at":"2026-09-04T08:32:47","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[-0.2778638486691597,-2.20121792182167,0.71338606911949],"aabb_xy":[[-0.3003629843953866,-2.2237179225999326],[-0.25536471294293267,-2.1787179210434062]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.5596811007134406,-1.4880100195939518,0.71338606911949],"aabb_xy":[[0.5228864675885343,-1.524915894690534],[0.5964757338383468,-1.4511041444973694]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.6466670853234537,-1.803558227398205,0.71338606911949],"aabb_xy":[[0.6315042123465168,-1.818723684693324],[0.6618299583003909,-1.7883927701030864]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[-0.5457651713198588,0.5736293904755891,0.71338606911949],"aabb_xy":[[-0.5494684326489976,0.5699273721668713],[-0.5420619099907198,0.577331408784307]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.33747646346757243,0.8672169452526952,0.71338606911949],"aabb_xy":[[-0.37497646328460593,0.8625787339415533],[-0.2999764636505388,0.8718551565638369]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[0.10861129553547477,-2.228742120187407,0.71338606911949],"aabb_xy":[[0.028611298521226777,-2.248876671860818],[0.18861129254972275,-2.208607568513995]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[0.20983714173133472,0.6299456652171429,0.71338606911949],"aabb_xy":[[0.1298371447682955,0.5528700235733695],[0.28983713869437383,0.7070213068609164]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.395819261511804,0.02402796948800212,0.71338606911949],"aabb_xy":[[-0.4333192630274357,0.012801196471857061],[-0.35831925999617226,0.03525474250414717]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[-0.6752151758299232,0.46745667620804054,0.71338606911949],"aabb_xy":[[-0.6865769104832093,0.45608820980175246],[-0.663853441176637,0.4788251426143286]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[0.6690908478529072,0.6406224461371965,0.71338606911949],"aabb_xy":[[0.6465908480390047,0.6361478297667157],[0.6915908476668094,0.6450970625076772]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[0.0022436939658612154,1.4547166246208456,0.71338606911949],"aabb_xy":[[-0.06175630331978743,1.4132099056680014],[0.06624369125150986,1.4962233435736894]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[-0.4542066880637662,-2.3303657629823746,0.71338606911949],"aabb_xy":[[-0.5182023854588627,-2.394365761283083],[-0.39021099066866954,-2.2663657646816655]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[-0.33678767459721676,-2.4810639133491943,0.71338606911949],"aabb_xy":[[-0.34022835083727393,-2.4849253463235588],[-0.3333469983571596,-2.47720248037483]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.09997283170369431,-1.6149091338220067,0.71338606911949],"aabb_xy":[[0.0895612730232106,-1.6202548671579047],[0.11038439038417802,-1.609563400486108]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[-0.25378975753032307,-0.9544645766406081,0.71338606911949],"aabb_xy":[[-0.30378975617624426,-1.0043841203000705],[-0.20378975888440187,-0.9045450329811457]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[0.15348046850997654,-0.7649811572213723,0.71338606911949],"aabb_xy":[[0.14160838549847543,-0.8499811569150226],[0.16535255152147765,-0.6799811575277219]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[0.38183576524934515,1.1592024158132994,0.71338606911949],"aabb_xy":[[0.3539907284687381,1.1284179170749877],[0.40968080202995233,1.189986914551611]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.543360560781984,0.6961167292909716,0.71338606911949],"aabb_xy":[[0.535657370107907,0.6884073585922335],[0.551063751456061,0.7038260999897095]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.2156448092738213,1.6005419038163358,0.71338606911949],"aabb_xy":[[-0.24015843337082712,1.5762773105142995],[-0.1911311851768154,1.6248064971183724]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[-0.5845077959052231,1.639980774605823,0.71338606911949],"aabb_xy":[[-0.6070077964172637,1.6174889162404245],[-0.5620077953931825,1.6624726329712212]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.24702662646602153,0.8501603175941184,0.71338606911949],"aabb_xy":[[-0.2557245887567368,0.8380353432866436],[-0.23832866417530624,0.8622852919015931]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[-0.32570634323465236,1.1081545925481682,0.71338606911949],"aabb_xy":[[-0.33654682146116727,1.0909683112575195],[-0.31486586500813746,1.1253408738388169]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.3183470449110265,-0.1795264478984433,0.71338606911949],"aabb_xy":[[-0.3263405347063085,-0.187524579838919],[-0.3103535551157445,-0.17152831595796764]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.5427731329791822,1.781633585773021,0.71338606911949],"aabb_xy":[[-0.5927573686873594,1.7316335869595252],[-0.49278889727100494,1.8316335845865164]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.5102334099536703,-1.7938074086732259,0.71338606911949],"aabb_xy":[[-0.5477334107456657,-1.8001752496314154],[-0.47273340916167483,-1.7874395677150354]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667199684099195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6763.png","name":"6763"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6763.png","name":"6763"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/843.png","name":"843"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5781.png","name":"5781"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9434.png","name":"9434"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2300.png","name":"2300"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":780.9649786433856,"rotation_z_degrees":77.28938813610444,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010783952067487333,0.0033857866924567846,-0.0072928166082432445]},{"name":"camera_2","offset_m":[0.017909291088106325,-0.005171472585106748,0.018031465642331147]},{"name":"camera_3","offset_m":[0.010173270352028481,0.0009330596277887099,-0.008312160775677726]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009233119207263754,0.0015703155636447763,0.0006623541847190291],"end_effector_yaw_offset_degrees":-0.398372390468116},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00036200489242229814,-0.0016109730897997895,-0.0006130494098333936],"end_effector_yaw_offset_degrees":0.6443451117215231},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001681261465452128,-0.0010401906980855987,-0.0013630786733353625],"end_effector_yaw_offset_degrees":-0.32431490184786393}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004371414878258462,0.00039314777630224205],"position_m":[0.20797141487825846,-0.04540685222369776,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003920325307058947,0.004562737836674983],"position_m":[0.23872032530705894,-0.359037262163325,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026195300064523162,0.0010967699197454682],"position_m":[0.17191953000645233,0.23119676991974547,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00019787510154640076,0.0031614931886614567],"position_m":[0.3339978751015464,0.12086149318866146,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e3e8d7e83379312dd61145c4830c8b7cb0db2b75c260c2b931a002af8793ac4","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6763/tex_ceiling_textures_2300/tex_floor_textures_9434/tex_table_textures_843/tex_wall_textures_5781","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5635105067238737967,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5635105067238737967,"visual_seed":5635105067238737967,"scene_id":"lab_003","finished_at":"2026-09-04T08:35:31"}
+{"episode_id":"ep_000051","started_at":"2026-09-04T08:35:36","dimensions":{"distractor":{"count":28,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.5715680354739376,-1.3919158592918324,0.71338606911949],"aabb_xy":[[0.4815680357507634,-1.414989211827012],[0.6615680351971117,-1.3688425067566523]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.027708565434528265,-1.9891332157973058,0.71338606911949],"aabb_xy":[[-0.05020856567804366,-2.0013378504570776],[-0.005208565191012874,-1.9769285811375337]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[0.01743356199170787,-2.1564591535491626,0.71338606911949],"aabb_xy":[[-0.06256643541188554,-2.236451724747345],[0.09743355939530128,-2.0764665823509794]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.2693437365282564,-0.7661995303655491,0.71338606911949],"aabb_xy":[[-0.3068437380438881,-0.7774263033816942],[-0.23184373501262467,-0.7549727573494041]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.6369565349433663,-1.2910678228620736,0.71338606911949],"aabb_xy":[[-0.6648015717239735,-1.3218523216003852],[-0.6091114981627592,-1.2602833241237619]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.4791845234276626,-0.607038722847578,0.71338606911949],"aabb_xy":[[-0.4873122116209759,-0.6159523312582856],[-0.47105683523434944,-0.5981251144368703]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_6","position":[-0.2571721600340894,0.4069632786347115,0.71338606911949],"aabb_xy":[[-0.3471721586285593,0.39071269232129047],[-0.16717216143961944,0.4232138649481325]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.6434666061105028,1.8065678297041665,0.71338606911949],"aabb_xy":[[-0.6553993404723308,1.7941856768963074],[-0.6315338717486747,1.818949982512026]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.6078454980594892,-2.494634715514086,0.71338606911949],"aabb_xy":[[0.5710508649345829,-2.531540590610668],[0.6446401311843954,-2.4577288404175035]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[-0.5684926286801072,-1.888067056473656,0.71338606911949],"aabb_xy":[[-0.6234926283018531,-1.9430507492611286],[-0.5134926290583615,-1.8330833636861832]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.44581429533284256,-0.8066331004783343,0.71338606911949],"aabb_xy":[[0.43566127977869296,-0.8427026420510744],[0.4559673108869917,-0.7705635589055937]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[-0.19387345949301615,-1.151801981251029,0.71338606911949],"aabb_xy":[[-0.21578214163236717,-1.1737026480711197],[-0.17196477735366508,-1.1299013144309382]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.3547448298620289,0.5349664592630865,0.71338606911949],"aabb_xy":[[-0.41874483308066673,0.48824334736407815],[-0.290744826643391,0.5816895711620949]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[0.09645268315134192,-2.3680339592155493,0.71338606911949],"aabb_xy":[[0.08917036677467824,-2.4580339628250574],[0.10373499952800555,-2.2780339556060394]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.6667763444592518,-2.2304089227260966,0.71338606911949],"aabb_xy":[[0.640487520138811,-2.2566803563807474],[0.6930651687796924,-2.204137489071445]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.5590062993264282,1.6980367778911156,0.71338606911949],"aabb_xy":[[-0.5707744861210857,1.6130367779858945],[-0.5472381125317707,1.7830367777963376]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.4104869133713064,1.52453551551852,0.71338606911949],"aabb_xy":[[-0.4604869129476412,1.4745549365664143],[-0.3604869137949718,1.5745160944706262]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.15536716626623648,1.0783702632172578,0.71338606911949],"aabb_xy":[[0.07036716784881325,0.9934959677549728],[0.2403671646836597,1.1632445586795428]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.41042220565406323,-2.111863735738352,0.71338606911949],"aabb_xy":[[-0.46041531776325517,-2.1618637364125477],[-0.36042909354487135,-2.0618637350641564]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.7156507056985593,-1.6448910001239578,0.71338606911949],"aabb_xy":[[0.7076143709972743,-1.6529291194283744],[0.723687040399844,-1.6368528808195408]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.6667892625262329,1.2003311414447166,0.71338606911949],"aabb_xy":[[-0.6917892617981952,1.183985777848554],[-0.6417892632542707,1.2166765050408788]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.43757585387925957,-0.9145226859253643,0.71338606911949],"aabb_xy":[[-0.48274717172742865,-0.9785226830699029],[-0.3924045360310907,-0.850522688780826]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[0.567779879788231,-0.8689384015682542,0.71338606911949],"aabb_xy":[[0.5302798794960562,-0.8729798769688577],[0.6052798800804058,-0.8648969261676505]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[-0.008692458912460177,1.3533992970224635,0.71338606911949],"aabb_xy":[[-0.08869245756934618,1.3388944380982009],[0.07130753974442583,1.3679041559467267]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[0.49658853101710854,1.093047187646686,0.71338606911949],"aabb_xy":[[0.4777041472485984,1.0741612628663333],[0.5154729147856187,1.1119331124270389]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[0.4507202051017587,-0.21018173679750252,0.71338606911949],"aabb_xy":[[0.4460850899495252,-0.2140490718746511],[0.45535532025399195,-0.2063144017203538]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_26","position":[0.09238055797893818,0.8279203527229146,0.71338606911949],"aabb_xy":[[0.028380557718467366,0.7829115533699865],[0.15638055823940897,0.8729291520758425]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_27","position":[0.5566041037786764,0.07266581175278342,0.71338606911949],"aabb_xy":[[0.5407196105133512,0.058312871453959345],[0.5724885970440015,0.08701875205160746]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627343665310718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8196.png","name":"8196"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8196.png","name":"8196"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4900.png","name":"4900"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/125.png","name":"125"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5623.png","name":"5623"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2534.png","name":"2534"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":570.2380011047676,"rotation_z_degrees":250.68443067745548,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013221273825571925,-0.004475833099992754,-0.016000737798585817]},{"name":"camera_2","offset_m":[0.017206192599421095,0.016988055574618344,-0.003692785498769134]},{"name":"camera_3","offset_m":[-0.017496490561390216,0.0006297169872883576,-0.007471528424745891]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018116221951519703,0.0010760998624803732,0.00011643292454797255],"end_effector_yaw_offset_degrees":0.33172856086037905},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001085131688188458,-0.0006991301913789898,-0.001556019399906778],"end_effector_yaw_offset_degrees":-0.7979565509584563},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016833673887147378,0.0015998475592701052,0.0018358525179306864],"end_effector_yaw_offset_degrees":0.5284817852927561}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00044459127017130486,0.0024443114072281802],"position_m":[0.2040445912701713,-0.04335568859277182,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004295498325049959,-0.0007796730992437493],"position_m":[0.23050450167495004,-0.36437967309924374,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001956145211876567,-0.0011018367666271035],"position_m":[0.17125614521187657,0.2289981632333729,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017939178972969094,0.0024940402411197738],"position_m":[0.33559391789729687,0.12019404024111978,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0070fb5a09710c08bb1243b0e3e06668009fd788a4adbde762bbd018245818ea","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8196/tex_ceiling_textures_2534/tex_floor_textures_5623/tex_table_textures_4900/tex_wall_textures_125","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2244366556206410928,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2244366556206410928,"visual_seed":2244366556206410928,"scene_id":"lab_003","finished_at":"2026-09-04T08:38:20"}
+{"episode_id":"ep_000052","started_at":"2026-09-04T08:38:23","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.4699664466276303,-0.4994241028557136,0.71338606911949],"aabb_xy":[[0.4521729396927138,-0.5172238484515113],[0.4877599535625467,-0.4816243572599159]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[0.3098548787324169,1.4447454264264583,0.71338606911949],"aabb_xy":[[0.2598548774485768,1.3947665720358362],[0.35985488001625676,1.4947242808170804]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.5387530081264083,-0.20616437056751113,0.71338606911949],"aabb_xy":[[0.510423298177868,-0.21062511276122822],[0.5670827180749485,-0.2017036283737941]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[0.0831931299597467,1.522151292733764,0.71338606911949],"aabb_xy":[[0.058193130027228826,1.5152686245128408],[0.10819312989226461,1.5290339609546875]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[0.48211668391632245,1.0478901626135477,0.71338606911949],"aabb_xy":[[0.44711668472350413,1.036923116615885],[0.5171166831091407,1.05885720861121]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[0.5015574866065187,-2.0976848412198934,0.71338606911949],"aabb_xy":[[0.48267310283800846,-2.116570766000246],[0.5204418703750289,-2.0787989164395406]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[-0.5472880417338355,-1.7484757687213763,0.71338606911949],"aabb_xy":[[-0.5553314016597907,-1.8334757698167428],[-0.5392446818078803,-1.66347576762601]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[-0.33327721386013603,-0.44296740179923644,0.71338606911949],"aabb_xy":[[-0.3706084903853787,-0.4776204565940887],[-0.2959459373348934,-0.40831434700438407]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.12904229521703725,1.6080809455339975,0.71338606911949],"aabb_xy":[[-0.19404229377411006,1.5783284121201149],[-0.06404229665996439,1.6378334789478801]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[-0.282792814237731,1.7467425475743208,0.71338606911949],"aabb_xy":[[-0.3327876471656726,1.6967425486790775],[-0.2327979813097894,1.7967425464695645]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[-0.6149482925512805,0.5620398844299843,0.71338606911949],"aabb_xy":[[-0.6534939853764815,0.5234941133737957],[-0.5764025997260794,0.6005856554861729]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.06896660265182986,1.3775152364357157,0.71338606911949],"aabb_xy":[[0.003966604770182084,1.326391572729175],[0.1339666005334777,1.4286389001422568]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.6191680185966983,-1.903646305373095,0.71338606911949],"aabb_xy":[[-0.6891680212332847,-1.9237511703689603],[-0.549168015960112,-1.8835414403772293]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.26601374236594566,1.3006032206248688,0.71338606911949],"aabb_xy":[[-0.2760954494445191,1.2206032227327541],[-0.25593203528737213,1.3806032185169834]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.23223850594646245,-0.8059113814533347,0.71338606911949],"aabb_xy":[[0.22066952519952587,-0.8309113815702667],[0.24380748669339902,-0.7809113813364033]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[0.03793145045670687,-0.8319038356910762,0.71338606911949],"aabb_xy":[[-0.042068546506332294,-0.9089794773348496],[0.11793144741974604,-0.7548281940473027]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.24993830702399106,-0.2907495909625353,0.71338606911949],"aabb_xy":[[-0.29991160102725145,-0.34074959151708256],[-0.19996501302073055,-0.24074959040798788]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.6090135623883626,-2.225042041621258,0.71338606911949],"aabb_xy":[[-0.658986627920878,-2.275042041433791],[-0.5590404968558471,-2.1750420418087253]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[0.17809262779667578,1.0980004059503314,0.71338606911949],"aabb_xy":[[0.12809335262823962,1.0480004046743843],[0.22809190296511195,1.1480004072262786]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.25250772145289935,0.6829982084652992,0.71338606911949],"aabb_xy":[[0.19751547081738846,0.6279982067219865],[0.30749997208841034,0.737998210208612]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[0.4247926198932004,0.33504679333880505,0.71338606911949],"aabb_xy":[[0.3698188978568675,0.28004679377457187],[0.47976634192953327,0.39004679290303823]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.16432985938333566,-1.321281398666578,0.71338606911949],"aabb_xy":[[0.07464278307522021,-1.4112813989210282],[0.2540169356914511,-1.2312813984121271]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660538151322459,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/594.png","name":"594"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/594.png","name":"594"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5079.png","name":"5079"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2143.png","name":"2143"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9994.png","name":"9994"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9285.png","name":"9285"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":647.4354559897852,"rotation_z_degrees":349.97185132495247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012254992251082678,-0.0005904444613890475,-0.01796347553005111]},{"name":"camera_2","offset_m":[-0.013263024122813265,-0.006392480880089351,-0.008774780968505631]},{"name":"camera_3","offset_m":[-0.01762422952421671,0.01157126241624418,0.01842987364874475]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015512203525331748,0.0008631211195489785,0.001111377590341126],"end_effector_yaw_offset_degrees":-0.5587091311171966},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012645885456187209,-0.001590093294918905,0.0019413511776977506],"end_effector_yaw_offset_degrees":-0.31695857886101897},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019948823491984053,-0.0005776291877984546,0.001244553155110106],"end_effector_yaw_offset_degrees":-0.15013680082001857}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-5.000443867007962e-05,0.0003027455444438295],"position_m":[0.2035499955613299,-0.04549725445555617,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003797917154602003,0.003995646583393687],"position_m":[0.231002082845398,-0.3596043534166063,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015635259708472573,-0.003453717224360133],"position_m":[0.16773647402915276,0.22664628277563986,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008912859673614005,-0.004634592698912433],"position_m":[0.3329087140326386,0.11306540730108756,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ea33f1e71c0675c7d244c1baea3b365e6cf7bee7ec7b9e923f670c92dfdf9ad","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_594/tex_ceiling_textures_9285/tex_floor_textures_9994/tex_table_textures_5079/tex_wall_textures_2143","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5609944807720846529,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5609944807720846529,"visual_seed":5609944807720846529,"scene_id":"lab_003","finished_at":"2026-09-04T08:41:09"}
+{"episode_id":"ep_000053","started_at":"2026-09-04T08:41:12","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[-0.5317790042682758,-2.0777356717807005,0.71338606911949],"aabb_xy":[[-0.5430240598388937,-2.088977469504796],[-0.520533948697658,-2.0664938740566052]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[-0.5473444416431091,-0.06501665173277704,0.71338606911949],"aabb_xy":[[-0.6013600379250089,-0.1290166546250342],[-0.4933288453612089,-0.0010166488405198848]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.1674654338799042,-0.8662775637997953,0.71338606911949],"aabb_xy":[[-0.25746543247437415,-0.8825281501132162],[-0.07746543528543429,-0.8500269774863741]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[0.5651194118296214,0.7039262009683629,0.71338606911949],"aabb_xy":[[0.5241014684432506,0.6539262003374056],[0.6061373552159923,0.7539262015993202]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.04055589852749697,-2.3108235497436835,0.71338606911949],"aabb_xy":[[-0.1045558988014752,-2.3608896499409715],[0.02344410174648126,-2.2607574495463956]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.23012334757381314,-2.3922389885807473,0.71338606911949],"aabb_xy":[[0.20983904485041435,-2.4125216137234555],[0.25040765029721185,-2.3719563634380383]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[-0.6484945823944853,-1.509836287295622,0.71338606911949],"aabb_xy":[[-0.685994583579278,-1.514254509991682],[-0.6109945812096924,-1.505418064599561]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[0.34737437685763783,-2.2447208713351827,0.71338606911949],"aabb_xy":[[0.2833743748079059,-2.2848153544244907],[0.4113743789073699,-2.2046263882458748]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[-0.46761536919845526,0.9283116124449662,0.71338606911949],"aabb_xy":[[-0.5326153701989558,0.8775252472902912],[-0.4026153681979547,0.9790979775996411]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[-0.14223545119337577,-1.6749804007919864,0.71338606911949],"aabb_xy":[[-0.14927576112691276,-1.7549804001916582],[-0.13519514125983878,-1.5949804013923154]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.052346505985005454,-1.435222550876217,0.71338606911949],"aabb_xy":[[-0.11234650623640663,-1.4895038759126815],[0.007653494266395729,-1.3809412258397522]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[-0.5758058885668145,-1.2791662690581176,0.71338606911949],"aabb_xy":[[-0.6398058899748051,-1.330955220582042],[-0.5118058871588238,-1.2273773175341927]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[-0.5201143762951953,1.2620085974400195,0.71338606911949],"aabb_xy":[[-0.6001143734547706,1.250460996482202],[-0.44011437913562,1.273556198397836]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.3550716239442163,1.5897653689735143,0.71338606911949],"aabb_xy":[[-0.40455204515817517,1.5257653710606625],[-0.3055912027302576,1.653765366886366]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[0.12415966468890316,0.941346386035812,0.71338606911949],"aabb_xy":[[0.11674720914751469,0.9354951756141838],[0.13157212023029163,0.9471975964574397]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.3064402649307427,-0.8148743998235761,0.71338606911949],"aabb_xy":[[0.2678945721055417,-0.8534201708797646],[0.34498595775594376,-0.7763286287673874]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[0.09791173267930953,-1.3071988863137964,0.71338606911949],"aabb_xy":[[0.0801182257443931,-1.324998631909594],[0.11570523961422598,-1.2893991407179988]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[0.5711070043210531,-1.318810341561145,0.71338606911949],"aabb_xy":[[0.49110700735801394,-1.3958859832049182],[0.6511070012840923,-1.2417346999173713]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[-0.5520627506386786,1.0599233995148927,0.71338606911949],"aabb_xy":[[-0.5561409085457283,1.0558424192666294],[-0.5479845927316289,1.064004379763156]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.5201030951862367,0.1593795243712295,0.71338606911949],"aabb_xy":[[0.5120768245556105,0.15062802939387684],[0.5281293658168625,0.16813101934858207]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[-0.334366479015828,0.5855155350162304,0.71338606911949],"aabb_xy":[[-0.42436647843419883,0.5521400381720407],[-0.24436647959745705,0.6188910318604202]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[-0.49481303278334576,-1.5129236366886238,0.71338606911949],"aabb_xy":[[-0.5066851157948469,-1.597923636382274],[-0.48294094977184465,-1.4279236369949733]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[-0.3911619131008917,-0.9477007717302486,0.71338606911949],"aabb_xy":[[-0.39507578629631424,-0.9564497871368054],[-0.3872480399054692,-0.9389517563236918]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.014117570413915259,-1.0048424399957592,0.71338606911949],"aabb_xy":[[-0.031617569692002134,-1.0221805400621051],[0.003382428864171616,-0.9875043399294132]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.5140709939801822,-0.034915481951748095,0.71338606911949],"aabb_xy":[[0.4340709918174196,-0.11487066557789172],[0.5940709961429446,0.04503970167439553]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[-0.4304480771257717,0.7659052248844689,0.71338606911949],"aabb_xy":[[-0.49044807763362464,0.7090584911985475],[-0.3704480766179188,0.8227519585703901]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[-0.5773882179949809,-1.587922137001012,0.71338606911949],"aabb_xy":[[-0.5846494655653882,-1.6007091472645216],[-0.5701269704245735,-1.5751351267375027]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[-0.49904496103289564,-0.18254009016755202,0.71338606911949],"aabb_xy":[[-0.5115123191426313,-0.19500541480087552],[-0.48657760292316,-0.1700747655342285]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670774143279751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6946.png","name":"6946"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6056.png","name":"6056"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8663.png","name":"8663"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7484.png","name":"7484"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":696.9882038690293,"rotation_z_degrees":113.83092475678163,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012790598926410025,-0.0053393590195097845,0.010598065047701853]},{"name":"camera_2","offset_m":[-0.0038973444500740306,0.003557214992418213,0.004245033198598855]},{"name":"camera_3","offset_m":[0.014996828907393404,0.0073635343822109,0.00804782038335113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013098229613557636,0.001573076021597402,0.0017794125585430154],"end_effector_yaw_offset_degrees":-0.300906643895106},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007449058495797574,0.0018785198309676484,-0.0016137083691681112],"end_effector_yaw_offset_degrees":-0.8139544820067237},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00041946283809679184,0.0005710532726267412,0.0016806594405566577],"end_effector_yaw_offset_degrees":-0.23755669877590435}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018357498444212927,0.004938698293618488],"position_m":[0.20176425015557872,-0.04086130170638151,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003035305383600432,0.0025209472383436148],"position_m":[0.23783530538360045,-0.36107905276165636,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006555911192591959,0.003576793693258325],"position_m":[0.1686444088807408,0.23367679369325833,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017248914963961179,0.004126393782490583],"position_m":[0.3355248914963961,0.12182639378249058,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1e6dd32315c31d8f2bdc91d28dc6e7fb38ad38685966df864fc2fe258ed56c2c","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0053.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9944/tex_ceiling_textures_7484/tex_floor_textures_8663/tex_table_textures_6946/tex_wall_textures_6056","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8078890049227806472,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8078890049227806472,"visual_seed":8078890049227806472,"scene_id":"lab_003","finished_at":"2026-09-04T08:43:55"}
+{"episode_id":"ep_000054","started_at":"2026-09-04T08:44:00","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.5332445554978552,-2.1888916245013528,0.71338606911949],"aabb_xy":[[-0.5491290487631804,-2.2032445648001775],[-0.5173600622325301,-2.174538684202529]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.6351069228613521,-1.3161133013656372,0.71338606911949],"aabb_xy":[[-0.6526068562953353,-1.3336133012858715],[-0.6176069894273686,-1.2986133014454024]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[-0.26381960024733353,-2.0624355404780976,0.71338606911949],"aabb_xy":[[-0.34381960167746073,-2.141952695490707],[-0.18381959881720633,-1.9829183854654882]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[-0.5473110355548296,-0.3818136747155396,0.71338606911949],"aabb_xy":[[-0.6113110378976311,-0.4267545259596721],[-0.483311033212028,-0.3368728234714071]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.00035216872590904114,0.805200364681478,0.71338606911949],"aabb_xy":[[-0.079647829254876,0.7975988237196261],[0.08035216670669408,0.81280190564333]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.3714684439763209,1.4325262693394243,0.71338606911949],"aabb_xy":[[-0.3794624325540243,1.4245261892443337],[-0.3634744553986175,1.4405263494345144]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[0.13483402612101536,1.2415923636194446,0.71338606911949],"aabb_xy":[[0.04483402938540515,1.1884089003021499],[0.22483402285662557,1.2947758269367389]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.24940560892504526,-1.095585617744531,0.71338606911949],"aabb_xy":[[-0.2598171676055289,-1.100931351080429],[-0.2389940502445615,-1.0902398844086323]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.6710051357072915,-0.8892346594473672,0.71338606911949],"aabb_xy":[[0.6622030803983185,-0.8970459856022963],[0.679807191016264,-0.8814233332924382]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.6905477550179417,0.04249845071359948,0.71338606911949],"aabb_xy":[[0.6832654386412779,-0.047501552895909516],[0.6978300713946052,0.13249845432310844]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.2243670107858466,0.992066192562282,0.71338606911949],"aabb_xy":[[-0.2893670089417657,0.9657699480123699],[-0.15936701262992756,1.0183624371121942]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[0.2518513498418795,1.01901677282819,0.71338606911949],"aabb_xy":[[0.16216427353376406,0.9290167725737393],[0.34153842614999497,1.1090167730826404]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.09783844134740627,1.510970201459148,0.71338606911949],"aabb_xy":[[0.03624768212341346,1.4469702033501013],[0.1594292005713991,1.574970199568195]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[-0.24239047512848516,1.125281396926705,0.71338606911949],"aabb_xy":[[-0.2769815579825303,1.060281396641674],[-0.20779939227443991,1.190281397211736]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.12367186359885629,1.7340229152390854,0.71338606911949],"aabb_xy":[[-0.14725698706275114,1.6690229129936536],[-0.10008674013496145,1.7990229174845171]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.667490211063928,-1.7350881608588353,0.71338606911949],"aabb_xy":[[0.6224902095976992,-1.7800880177203164],[0.7124902125301569,-1.690088303997355]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.6101341879546894,0.2560764956687476,0.71338606911949],"aabb_xy":[[-0.6252364894157073,0.24097497403768572],[-0.5950318864936711,0.27117801729980934]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.19544107023216167,-0.7635923810546403,0.71338606911949],"aabb_xy":[[-0.28544106965053256,-0.79696787789883],[-0.10544107081379078,-0.7302168842104505]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.3610018232381107,-1.6292676983839525,0.71338606911949],"aabb_xy":[[-0.4110018248996054,-1.6792661406396547],[-0.3110018215766159,-1.5792692561282493]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.394018456365876,1.7532306940974185,0.71338606911949],"aabb_xy":[[-0.4116940869544743,1.7355504778180157],[-0.3763428257772776,1.7709109103768212]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[0.2888629312630442,-2.341533503588494,0.71338606911949],"aabb_xy":[[0.2780113250141686,-2.3523927943161453],[0.2997145375119198,-2.330674212860843]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[-0.13995473206577036,-0.6353338170478158,0.71338606911949],"aabb_xy":[[-0.1551269013474037,-0.6505026739760192],[-0.12478256278413702,-0.6201649601196125]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[-0.4951366313042318,1.4584024729318954,0.71338606911949],"aabb_xy":[[-0.5196828469269825,1.4281535763828583],[-0.4705904156814811,1.4886513694809325]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[-0.6272292237061134,-1.8588603817572715,0.71338606911949],"aabb_xy":[[-0.6471202635864538,-1.8715161930419686],[-0.6073381838257733,-1.846204570472575]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[-0.5815843139791965,-2.5138776262386586,0.71338606911949],"aabb_xy":[[-0.622833125009111,-2.5688776257508756],[-0.5403355029492816,-2.4588776267264407]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_25","position":[-0.23245443915419728,0.530305506998384,0.71338606911949],"aabb_xy":[[-0.2864700354360973,0.4663055041061268],[-0.17843884287229725,0.5943055098906411]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_26","position":[0.3409385013089823,0.5136836687391955,0.71338606911949],"aabb_xy":[[0.334843873420864,0.5051142741875269],[0.34703312919710066,0.5222530632908643]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_27","position":[0.30470870783174686,-1.5483203641724876,0.71338606911949],"aabb_xy":[[0.28915293842148165,-1.563870797416895],[0.3202644772420122,-1.5327699309280807]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_28","position":[0.6394473559018756,-1.2913336503163522,0.71338606911949],"aabb_xy":[[0.6286068776753606,-1.3085199316070009],[0.6502878341283904,-1.2741473690257035]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6617517417134272,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9140.png","name":"9140"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9140.png","name":"9140"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7940.png","name":"7940"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6899.png","name":"6899"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4079.png","name":"4079"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9473.png","name":"9473"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":633.1391020894165,"rotation_z_degrees":187.4457408553237,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01560479953435507,0.014852314371929295,-0.007933122432029377]},{"name":"camera_2","offset_m":[0.01590152079538371,-0.006956240421599608,-0.008800312901996628]},{"name":"camera_3","offset_m":[0.01896365734274399,0.0020397540203493936,0.005526510256305267]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011753854888707084,-9.956907386646967e-05,-0.0009250520227792292],"end_effector_yaw_offset_degrees":-0.5061725694530337},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007463472794892274,-0.000557189656883509,-0.0017038481022918588],"end_effector_yaw_offset_degrees":-0.5677681984918801},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001599556096915978,0.0007326686011921205,0.000862381982991265],"end_effector_yaw_offset_degrees":-0.7135858543100255}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002041510358517403,-0.0049501085516111655],"position_m":[0.2015584896414826,-0.05075010855161117,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00487131557846663,0.00013299315047044045],"position_m":[0.22992868442153339,-0.36346700684952954,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018081558930405466,-0.0020021471497454644],"position_m":[0.17110815589304054,0.22809785285025452,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00023647536501437364,-0.0019478145760105404],"position_m":[0.3335635246349856,0.11575218542398946,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"73b5a26df9a49ec79a32e40c3e3e782cc12560c3cebbf32a293ed6bdccb2711c","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9140/tex_ceiling_textures_9473/tex_floor_textures_4079/tex_table_textures_7940/tex_wall_textures_6899","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7314814325881976898,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7314814325881976898,"visual_seed":7314814325881976898,"scene_id":"lab_003","finished_at":"2026-09-04T08:46:45"}
+{"episode_id":"ep_000055","started_at":"2026-09-04T08:46:48","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[0.5660470438479057,-2.4100306001314973,0.71338606911949],"aabb_xy":[[0.5020470446781358,-2.4567972872504593],[0.6300470430176757,-2.3632639130125344]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_1","position":[-0.6097486984569535,-2.4442102843196714,0.71338606911949],"aabb_xy":[[-0.6316384460458941,-2.53421028160892],[-0.5878589508680125,-2.354210287030422]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.43529312666085274,0.04003369864283135,0.71338606911949],"aabb_xy":[[-0.46029312593281496,0.023688335046669003],[-0.4102931273888904,0.05637906223899369]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[-0.6401601626956961,-0.019735498478827385,0.71338606911949],"aabb_xy":[[-0.6520928970575242,-0.032117651286686755],[-0.628227428333868,-0.0073533456709680145]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.0852977011168925,-2.1230912781921374,0.71338606911949],"aabb_xy":[[0.0683869686805507,-2.1365634837847516],[0.10220843355323427,-2.1096190725995223]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[0.3952959050358291,-1.2344646077391985,0.71338606911949],"aabb_xy":[[0.391160048703129,-1.2719646071835555],[0.39943176136852937,-1.1969646082948415]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.5930752017784754,-1.1957455658598182,0.71338606911949],"aabb_xy":[[-0.6570752050681835,-1.2390804848637356],[-0.5290751984887673,-1.1524106468559003]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[0.40765867267919464,1.1668856012625692,0.71338606911949],"aabb_xy":[[0.40115703617119003,1.1571177792362595],[0.41416030918719926,1.176653423288879]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[0.29857939982930126,0.9070696583207574,0.71338606911949],"aabb_xy":[[0.2681812887301577,0.8766627563190879],[0.32897751092844485,0.9374765603224269]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[0.5377028421372463,0.6584357539684897,0.71338606911949],"aabb_xy":[[0.5202028418921969,0.6409359661289229],[0.5552028423822957,0.6759355418080566]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[-0.3750185677658671,-0.15439904098786972,0.71338606911949],"aabb_xy":[[-0.40845874296188667,-0.18784266681879977],[-0.34157839256984746,-0.12095541515693962]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.48209724965633777,-2.5065871894545757,0.71338606911949],"aabb_xy":[[-0.512581499783368,-2.556587189236071],[-0.4516129995293076,-2.4565871896730793]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[-0.45571163899669825,0.9980495175735595,0.71338606911949],"aabb_xy":[[-0.4629939553733618,0.9080495139640504],[-0.4484293226200345,1.0880495211830683]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[-0.4282047476815735,-1.1950968800499724,0.71338606911949],"aabb_xy":[[-0.4370068029905462,-1.2029082062049012],[-0.41940269237260075,-1.187285553895043]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.2907325708250026,-0.6148152924431873,0.71338606911949],"aabb_xy":[[0.24073329565656648,-0.6648152937191346],[0.3407318459934388,-0.5648152911672403]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[-0.17575458506304575,0.5903229969316555,0.71338606911949],"aabb_xy":[[-0.1883572842001222,0.57772760070679],[-0.1631518859259693,0.602918393156521]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[-0.593929097283681,-0.2251170761092962,0.71338606911949],"aabb_xy":[[-0.6579290989616783,-0.27363446758861043],[-0.5299290956056836,-0.17659968462998196]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.6255152145544335,-1.6488866746579642,0.71338606911949],"aabb_xy":[[-0.6318273140907721,-1.6546536139111836],[-0.6192031150180951,-1.6431197354047458]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[0.28302344422075953,-1.9027594739004265,0.71338606911949],"aabb_xy":[[0.27756549858373947,-1.9827594772080854],[0.2884813898577796,-1.8227594705927672]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.676754699745955,-1.1614575895326695,0.71338606911949],"aabb_xy":[[0.6635237542112736,-1.1746850085546687],[0.6899856452806362,-1.14823017051067]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.15441754174104783,0.4147770321163109,0.71338606911949],"aabb_xy":[[-0.1631315107909823,0.3922770314571226],[-0.1457035726911133,0.43727703277549906]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[-0.42518421369320375,-1.7618639535717548,0.71338606911949],"aabb_xy":[[-0.4551517706030294,-1.7918639538696406],[-0.3952166567833781,-1.731863953273869]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.5330643595469895,1.5924153755231356,0.71338606911949],"aabb_xy":[[-0.5507399901355877,1.5747351592437326],[-0.515388728958391,1.6100955918025381]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[0.006864481530938993,-0.8986653059076188,0.71338606911949],"aabb_xy":[[-0.057135518846594624,-0.948410572758431],[0.07086448190847261,-0.8489200390568065]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[-0.28772489505104804,0.07232996982199724,0.71338606911949],"aabb_xy":[[-0.3102248952945635,0.060125335162225305],[-0.2652248948075327,0.08453460448176921]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[0.20680776779735266,-1.9754178772227755,0.71338606911949],"aabb_xy":[[0.18652346507395387,-1.9957005023654841],[0.2270920705207514,-1.9551352520800664]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[-0.4021931746109119,1.553242814185475,0.71338606911949],"aabb_xy":[[-0.4396931744279454,1.548604602874333],[-0.3646931747938783,1.5578810254966167]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_27","position":[0.5997538082546221,-0.8819880071253405,0.71338606911949],"aabb_xy":[[0.5662746409935813,-0.9154671204964476],[0.6332329755156632,-0.8485088937542337]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_28","position":[-0.3063981041296666,-0.8917043369605464,0.71338606911949],"aabb_xy":[[-0.37639810626109615,-0.9144663025862418],[-0.23639810199823708,-0.8689423713348505]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679687146473434,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2349.png","name":"2349"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2349.png","name":"2349"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4517.png","name":"4517"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2494.png","name":"2494"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2490.png","name":"2490"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9533.png","name":"9533"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":742.4351741134852,"rotation_z_degrees":18.989026856514194,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018611372670718555,0.016207291809699726,0.00022976730367975373]},{"name":"camera_2","offset_m":[0.010119406827127211,0.0032206824857293308,0.0021981864436155935]},{"name":"camera_3","offset_m":[-0.019681991358857915,0.01347982824736665,0.0006289662094786201]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009521400727411332,0.0018903447892961662,0.0013730621099290337],"end_effector_yaw_offset_degrees":-0.5437595217146438},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018014995810261656,0.0004518535222714946,0.0008243834581182457],"end_effector_yaw_offset_degrees":-0.8286140485232756},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018047599877177567,-0.00013233913893731758,-0.0003949371659404291],"end_effector_yaw_offset_degrees":-0.7660346714374562}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003975263489019146,-0.001093529932730839],"position_m":[0.19962473651098087,-0.04689352993273084,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00016134649798238334,-0.004018948364916564],"position_m":[0.23463865350201762,-0.36761894836491654,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006623395131856767,-0.0013004788855302475],"position_m":[0.16996233951318568,0.22879952111446974,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038969520250185853,-0.003970124871338054],"position_m":[0.3299030479749814,0.11372987512866195,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ff52b90547856421e90aceba15815b4446e855a646ab2c0c16637fa3efdea467","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0055.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2349/tex_ceiling_textures_9533/tex_floor_textures_2490/tex_table_textures_4517/tex_wall_textures_2494","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4512467534505682093,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4512467534505682093,"visual_seed":4512467534505682093,"scene_id":"lab_003","finished_at":"2026-09-04T08:49:34"}
+{"episode_id":"ep_000056","started_at":"2026-09-04T08:49:39","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[0.532381827033783,-0.7706170458384536,0.71338606911949],"aabb_xy":[[0.527538232272553,-0.7754686983174378],[0.537225421795013,-0.7657653933594696]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[0.5112562652109189,-1.2488567193630637,0.71338606911949],"aabb_xy":[[0.4212562628769,-1.3263390739481764],[0.6012562675449381,-1.171374364777951]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.6038123221924632,0.3430286834906413,0.71338606911949],"aabb_xy":[[0.5693499747943211,0.30853480109281856],[0.6382746695906047,0.37752256588846395]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[-0.4761393326784181,0.901754524940892,0.71338606911949],"aabb_xy":[[-0.5661393294140282,0.8485710616235975],[-0.3861393359428078,0.9549379882581865]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.41576361632667735,-2.101030643028018,0.71338606911949],"aabb_xy":[[0.35576361546586455,-2.1524570730345043],[0.47576361718749016,-2.049604213021531]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[-0.09613273385879506,-1.4095675961404102,0.71338606911949],"aabb_xy":[[-0.1661327364953814,-1.4296724611362754],[-0.026132731222208702,-1.3894627311445444]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.4574476282949298,-2.208996085040958,0.71338606911949],"aabb_xy":[[0.4498233602047516,-2.2166293085775015],[0.4650718963851081,-2.201362861504414]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.05362571416152451,1.758303510183565,0.71338606911949],"aabb_xy":[[-0.1336257111757725,1.7381689585101534],[0.026374282852723474,1.778438061856976]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.34092407933513796,0.6988385533248596,0.71338606911949],"aabb_xy":[[-0.4306111556432534,0.608838553070409],[-0.2512370030270225,0.7888385535793101]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[-0.6364657968415083,1.3302691824423891,0.71338606911949],"aabb_xy":[[-0.6864589089507002,1.2802691817681937],[-0.5864726847323164,1.380269183116585]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.4669258688936814,1.4977212545683902,0.71338606911949],"aabb_xy":[[-0.5168085657713776,1.4477212553221155],[-0.4170431720159852,1.5477212538146652]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[0.4214900318215242,-2.467521827499459,0.71338606911949],"aabb_xy":[[0.38399003171593127,-2.47434398935244],[0.4589900319271172,-2.4606996656464775]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.2905370890701312,-1.1643653967442598,0.71338606911949],"aabb_xy":[[0.20553709065270798,-1.2492396922065447],[0.37553708748755443,-1.0794911012819748]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.2819096500959827,-0.7119249823068698,0.71338606911949],"aabb_xy":[[0.2648075721376146,-0.7290317878381397],[0.2990117280543509,-0.6948181767756002]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.2750505584813723,1.088003641729602,0.71338606911949],"aabb_xy":[[0.25616617471286207,1.0691177169492492],[0.2939349422498825,1.1068895665099547]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.13165038462360268,0.9907303300567118,0.71338606911949],"aabb_xy":[[0.11397475403500433,0.973050113777309],[0.14932601521220099,1.0084105463361144]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[0.2031754005077201,-2.156042343368071,0.71338606911949],"aabb_xy":[[0.19518141193001667,-2.1640424234631612],[0.21116938908542346,-2.14804226327298]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[0.17718862877728925,-0.9925705555643012,0.71338606911949],"aabb_xy":[[0.15089980445684856,-1.0188419892189522],[0.20347745309772988,-0.96629912190965]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[0.10738123527188115,-0.8404227978917613,0.71338606911949],"aabb_xy":[[0.04738123476402823,-0.8972695315776826],[0.16738123577973407,-0.78357606420584]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.08337962694197265,-1.7273123433599658,0.71338606911949],"aabb_xy":[[-0.09313561645114654,-1.7370748774192002],[-0.07362363743279876,-1.7175498093007313]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.512026313180129,-0.9661371672655887,0.71338606911949],"aabb_xy":[[0.4480263145935566,-1.0131441306650975],[0.5760263117667015,-0.9191302038660801]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[0.14453158205000372,-2.0038584471963654,0.71338606911949],"aabb_xy":[[0.1270316486160203,-2.0213584471165995],[0.16203151548398703,-1.9863584472761304]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[0.40109743651753416,1.251511038583501,0.71338606911949],"aabb_xy":[[0.3370974373477642,1.2047443514645386],[0.4650974356873041,1.2982777257024636]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[-0.36207783277338507,-1.728972604686985,0.71338606911949],"aabb_xy":[[-0.4420778299329603,-1.7405202056448021],[-0.2820778356138097,-1.717425003729168]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[-0.07335532318096227,-1.8893013210477378,0.71338606911949],"aabb_xy":[[-0.1533491467595205,-1.9693013236405796],[0.006638500397595948,-1.8093013184548965]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[-0.5733112663963611,1.5341678106554082,0.71338606911949],"aabb_xy":[[-0.5813546263223163,1.4491678095600415],[-0.5652679064704059,1.6191678117507744]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[-0.06633350266073923,-1.3029292920742108,0.71338606911949],"aabb_xy":[[-0.10383350283261115,-1.3356300274571178],[-0.028833502488867277,-1.2702285566913034]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_27","position":[0.5324775478948203,-2.3025622972198696,0.71338606911949],"aabb_xy":[[0.5283416915621201,-2.3400622966642266],[0.5366134042275205,-2.2650622977755126]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_28","position":[-0.4699327674460841,0.15268389741538924,0.71338606911949],"aabb_xy":[[-0.49444639154308995,0.12841930411335278],[-0.44541914334907823,0.1769484907174257]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_29","position":[0.1157137920246264,1.4647230715812074,0.71338606911949],"aabb_xy":[[0.03571379404384133,1.4571215306193552],[0.19571379000541142,1.4723246125430591]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_30","position":[-0.26964932928614144,-2.2890791450089556,0.71338606911949],"aabb_xy":[[-0.29348554692674655,-2.3790791458174425],[-0.24581311164553643,-2.1990791442004696]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_31","position":[-0.15743337210291053,0.01611188129454355,0.71338606911949],"aabb_xy":[[-0.1720767776569435,0.001453161637759267],[-0.14278996654887754,0.030770600951327828]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6618758744888706,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6694.png","name":"6694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6694.png","name":"6694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/903.png","name":"903"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/829.png","name":"829"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3104.png","name":"3104"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7970.png","name":"7970"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":585.3916289950454,"rotation_z_degrees":125.6303764409561,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017990969742341555,-0.010131752756475829,-0.004266855951430809]},{"name":"camera_2","offset_m":[0.01435043102744259,-0.005352868811684921,-0.017146687283444498]},{"name":"camera_3","offset_m":[0.01496715477987862,0.007302065757581314,0.01731612761874302]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018407139428541445,0.001962195203736837,-0.001072900171334967],"end_effector_yaw_offset_degrees":0.7023855448178689},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016505407734647855,0.0017447307771279908,0.0012398582946807311],"end_effector_yaw_offset_degrees":0.4598727798255011},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008346289741728895,-2.7061220628071467e-05,0.0009356434391526707],"end_effector_yaw_offset_degrees":0.31528761011769846}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00010777311302842627,-0.002839742092014017],"position_m":[0.20370777311302843,-0.04863974209201402,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025462642442236694,0.0034670495964069644],"position_m":[0.23225373575577635,-0.360132950403593,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004083586339688034,0.0035604820748169957],"position_m":[0.17338358633968803,0.233660482074817,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036681089349225775,-0.000104995040005074],"position_m":[0.3374681089349226,0.11759500495999492,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e0a888b011fb8060bea706c125fe12a110851c2d700ec7dc56f3d8d3ee360ec3","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6694/tex_ceiling_textures_7970/tex_floor_textures_3104/tex_table_textures_903/tex_wall_textures_829","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6441129016145466565,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6441129016145466565,"visual_seed":6441129016145466565,"scene_id":"lab_003","finished_at":"2026-09-04T08:52:25"}
+{"episode_id":"ep_000057","started_at":"2026-09-04T08:52:28","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.1400486252922435,0.9025179237582028,0.71338606911949],"aabb_xy":[[-0.16363374875613837,0.8375179215127709],[-0.11646350182834866,0.9675179260036345]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_1","position":[0.591382052707031,1.4379953118682587,0.71338606911949],"aabb_xy":[[0.5364083306706982,1.3829953123040255],[0.6463557747433639,1.4929953114324919]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.4232348635399108,1.0682988852276227,0.71338606911949],"aabb_xy":[[-0.4872348608422572,1.0239324582597658],[-0.3592348662375644,1.1126653121954793]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[0.5078562200780339,-0.6501806946456969,0.71338606911949],"aabb_xy":[[0.42285622166061065,-0.7350549901079819],[0.5928562184954571,-0.565306399183412]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.5500811273807427,-0.7981015179745241,0.71338606911949],"aabb_xy":[[-0.5875811274863356,-0.8049236798275051],[-0.5125811272751497,-0.7912793561215429]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.4078023888244782,-1.2418772859040395,0.71338606911949],"aabb_xy":[[-0.4377940515583485,-1.27187728524084],[-0.37781072609060784,-1.211877286567239]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.41332465565665905,-1.9931788337912808,0.71338606911949],"aabb_xy":[[-0.4684498612862497,-2.0531788352325675],[-0.35819945002706816,-1.9331788323499934]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.41540915691254177,0.225258073112788,0.71338606911949],"aabb_xy":[[0.40107473178637837,0.21319785755824913],[0.4297435820387053,0.23731828866732682]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.2729060357507442,0.5978545658706089,0.71338606911949],"aabb_xy":[[-0.2948147178900952,0.5759538990505181],[-0.25099735361139314,0.6197552326906995]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[-0.5277029381375571,-0.2049017221153595,0.71338606911949],"aabb_xy":[[-0.5347432480710942,-0.28490172151503096],[-0.5206626282040202,-0.12490172271568814]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.48680644775012477,-1.3775621081844007,0.71338606911949],"aabb_xy":[[-0.4916500425113547,-1.3824137606633848],[-0.48196285298889474,-1.3727104557054166]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[0.5359007467779131,-1.8882463050544382,0.71338606911949],"aabb_xy":[[0.5318225888708634,-1.8923272853027016],[0.5399789046849628,-1.884165324806175]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.1706250536107624,1.7437555968815528,0.71338606911949],"aabb_xy":[[-0.1857879265876995,1.7285901395864343],[-0.15546218063382533,1.7589210541766718]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.005202547642788824,-1.0362232023233553,0.71338606911949],"aabb_xy":[[-0.047969254522209015,-1.1002232057451575],[0.03756415923663137,-0.9722231989015526]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.42721848463987966,-1.5649033405276773,0.71338606911949],"aabb_xy":[[0.41636687839100406,-1.5757626312553283],[0.43807009088875526,-1.5540440498000263]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.0613004389370585,1.5085836941387112,0.71338606911949],"aabb_xy":[[0.05251921178982229,1.4998039468501811],[0.07008166608429474,1.5173634414272419]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.189464306069416,0.7731988436667865,0.71338606911949],"aabb_xy":[[0.15898005594238585,0.7231988438852905],[0.21994855619644615,0.8231988434482824]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.6321530778537898,-1.715641563225359,0.71338606911949],"aabb_xy":[[-0.6386547143617944,-1.725409385251669],[-0.6256514413457852,-1.7058737411990494]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.13038718840263375,-1.6706108357582847,0.71338606911949],"aabb_xy":[[-0.1853826662232931,-1.7256108371921917],[-0.07539171058197433,-1.6156108343243778]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[-0.4429836904891766,0.5867475819313737,0.71338606911949],"aabb_xy":[[-0.5129836926206061,0.563985616305678],[-0.3729836883577469,0.6095095475570693]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.2858923216381839,-0.9110156880303049,0.71338606911949],"aabb_xy":[[0.26339318591195693,-0.9335156888085677],[0.30839145736441087,-0.8885156872520418]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[-0.5335207369680763,-1.8077998953934296,0.71338606911949],"aabb_xy":[[-0.5384200292746397,-1.8354768146959979],[-0.5286214446615127,-1.7801229760908603]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[0.4870723656514737,-1.1268492350416524,0.71338606911949],"aabb_xy":[[0.4220723670944009,-1.1566017684555352],[0.5520723642085466,-1.09709670162777]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.5363784209254935,0.72904332385286,0.71338606911949],"aabb_xy":[[-0.5588784214375341,0.7065514654874614],[-0.5138784204134529,0.7515351822182581]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_24","position":[-0.46977597488566075,0.4395125688709314,0.71338606911949],"aabb_xy":[[-0.5347759727673085,0.38838890516439056],[-0.404775977004013,0.4906362325774723]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[-0.1472690182498747,1.2629693296279219,0.71338606911949],"aabb_xy":[[-0.1818601011039199,1.1979693293428906],[-0.11267793539582947,1.3279693299129527]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[0.5951190538684925,-2.518771323511876,0.71338606911949],"aabb_xy":[[0.5251190504769304,-2.5540870972153065],[0.6651190572600544,-2.4834555498084447]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_27","position":[0.20041464917932783,-1.1049175019889672,0.71338606911949],"aabb_xy":[[0.1354146491450251,-1.1516181786692943],[0.26541464921363056,-1.0582168253086397]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_28","position":[-0.4651650521886873,-0.30396476121518745,0.71338606911949],"aabb_xy":[[-0.4732084121146425,-0.3889647623105538],[-0.45712169226273214,-0.21896476011982097]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641825880865428,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9608.png","name":"9608"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9608.png","name":"9608"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4949.png","name":"4949"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/427.png","name":"427"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1200.png","name":"1200"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8747.png","name":"8747"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":608.51979946872,"rotation_z_degrees":204.4342818431925,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011904425197993122,-0.01107608376082891,-0.00813505088211707]},{"name":"camera_2","offset_m":[-0.01878627729216436,-0.005242338746008893,0.010063437096649995]},{"name":"camera_3","offset_m":[0.015498789111656471,0.00354753496638013,-0.009076673424642485]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-5.6788628672931095e-05,0.0006957486460099026,0.001817085731317906],"end_effector_yaw_offset_degrees":0.7136888811663631},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002683062407672081,0.00012486277875982518,0.0011481629104840465],"end_effector_yaw_offset_degrees":0.2048450803314794},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001481973971066685,0.0009299563605945273,0.001763659004284658],"end_effector_yaw_offset_degrees":-0.15567717334005104}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013039446100437365,-0.0024454031047732526],"position_m":[0.20490394461004374,-0.04824540310477325,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001169396923151468,0.004971992315207109],"position_m":[0.23596939692315147,-0.35862800768479286,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008509882846081526,8.883892136852395e-05],"position_m":[0.17015098828460815,0.23018883892136852,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004878046446506781,-0.0012606411135409378],"position_m":[0.3289219535534932,0.11643935888645907,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c02aec76f53645b68cd4796531cf868eaf4477048b12f9ec2c132e2b441b6b40","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9608/tex_ceiling_textures_8747/tex_floor_textures_1200/tex_table_textures_4949/tex_wall_textures_427","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8914711378795873321,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8914711378795873321,"visual_seed":8914711378795873321,"scene_id":"lab_003","finished_at":"2026-09-04T08:55:11"}
+{"episode_id":"ep_000058","started_at":"2026-09-04T08:55:16","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.5284661615358752,-0.2893345688712219,0.71338606911949],"aabb_xy":[[0.520338473342562,-0.2982481772819296],[0.5365938497291884,-0.2804209604605143]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[0.42202097735309074,-0.5165626216738102,0.71338606911949],"aabb_xy":[[0.3970209774205729,-0.5234452898947336],[0.4470209772856087,-0.509679953452887]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[0.6971650908085418,1.1847295129034734,0.71338606911949],"aabb_xy":[[0.686392116887174,1.1497295146844344],[0.7079380647299096,1.2197295111225124]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.16789176139739215,-0.020043272198766005,0.71338606911949],"aabb_xy":[[-0.21787471158487148,-0.0700432718413264],[-0.11790881120991283,0.029956727443794403]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.5615703501358325,1.4555115968875216,0.71338606911949],"aabb_xy":[[0.49757034975829884,1.4057663300367094],[0.6255703505133661,1.505256863738334]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.505198918553339,-0.6370983926521927,0.71338606911949],"aabb_xy":[[-0.5603241241829297,-0.6970983940934797],[-0.45007371292374815,-0.5770983912109054]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.6451448702869615,1.517297310019941,0.71338606911949],"aabb_xy":[[-0.651646506794966,1.5075294879936314],[-0.6386432337789568,1.527065132046251]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.4924417496971245,0.5688771002504311,0.71338606911949],"aabb_xy":[[0.48281011347669495,0.5592397874707222],[0.5020733859175541,0.5785144130301401]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[0.2844631009879416,-0.7804991264384424,0.71338606911949],"aabb_xy":[[0.27289412024100507,-0.8054991265553743],[0.2960320817348782,-0.7554991263215108]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.31253191320197127,-0.5104515334418394,0.71338606911949],"aabb_xy":[[0.2950319797679879,-0.5279515333620739],[0.33003184663595464,-0.4929515335216048]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[0.4265302793322463,-0.3305919041649852,0.71338606911949],"aabb_xy":[[0.40130944247240663,-0.3558156550178718],[0.45175111619208597,-0.3053681533120983]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[0.36592897128119795,0.5856502256654954,0.71338606911949],"aabb_xy":[[0.3291343381562917,0.5487443505689131],[0.4027236044061042,0.6225561007620777]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[0.6495251449070261,0.2436134719248244,0.71338606911949],"aabb_xy":[[0.6120251441150306,0.23724563096663429],[0.6870251456990215,0.24998131288301448]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[-0.49081027991988097,1.4368999501135495,0.71338606911949],"aabb_xy":[[-0.5808102793382519,1.4035244532693598],[-0.4008102805015101,1.4702754469577393]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.46549572607565004,0.3834717671962644,0.71338606911949],"aabb_xy":[[0.4392069017552094,0.3572003335416131],[0.4917845503960907,0.4097432008509156]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.3467934843007139,-0.6714693650067871,0.71338606911949],"aabb_xy":[[-0.3592608424104496,-0.6839346896401106],[-0.3343261261909783,-0.6590040403734636]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.27978370237052996,1.3981670267861763,0.71338606911949],"aabb_xy":[[0.24979203963665958,1.3681670274493758],[0.30977536510440024,1.4281670261229769]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[-0.3296020528307162,-0.11972519078925936,0.71338606911949],"aabb_xy":[[-0.3451578222409815,-0.1352756240336666],[-0.314046283420451,-0.10417475754485221]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[0.053860349811030384,0.6951485422865673,0.71338606911949],"aabb_xy":[[0.04574669513765327,0.6870427258325382],[0.06197400448440747,0.7032543587405964]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.3517334495713431,-2.2724972998496917,0.71338606911949],"aabb_xy":[[0.3328490658028329,-2.2913832246300445],[0.3706178333398533,-2.253611375069339]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.6705244780538342,-1.4274608586945132,0.71338606911949],"aabb_xy":[[0.6355244788610159,-1.4384279046921755],[0.7055244772466525,-1.4164938126968505]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[-0.6101400972168975,1.302679293460843,0.71338606911949],"aabb_xy":[[-0.6183546423325814,1.2940027031632015],[-0.6019255521012135,1.3113558837584842]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[0.14688519556839963,-1.0803534407270212,0.71338606911949],"aabb_xy":[[0.09691190156513918,-1.1303534412815683],[0.19685848957166008,-1.0303534401724737]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[0.06328101412810483,-1.805505121781075,0.71338606911949],"aabb_xy":[[0.05916506401603215,-1.8096206768139205],[0.06739696424017748,-1.8013895667482294]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[-0.0021611993992863843,1.03863994891526,0.71338606911949],"aabb_xy":[[-0.03966119782268673,1.025475734947429],[0.035338799024113965,1.0518041628830905]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_25","position":[-0.10608709604923228,1.066151191660563,0.71338606911949],"aabb_xy":[[-0.11538071428638286,1.028651193172429],[-0.0967934778120817,1.1036511901486967]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[-0.30049587130677097,-2.189658810360088,0.71338606911949],"aabb_xy":[[-0.35037856818446717,-2.2396588096063628],[-0.25061317442907477,-2.1396588111138133]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_27","position":[0.5966227731774443,-2.3389377825924775,0.71338606911949],"aabb_xy":[[0.5737070602923945,-2.3618420797289015],[0.6195384860624943,-2.3160334854560545]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_28","position":[0.5657392813773632,-1.710333084250029,0.71338606911949],"aabb_xy":[[0.4857392844143239,-1.7874087258938025],[0.6457392783404022,-1.6332574426062556]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[0.6523090778426817,-0.5554595744954689,0.71338606911949],"aabb_xy":[[0.5973090782209358,-0.6104432672829416],[0.7073090774644275,-0.5004758817079962]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.671940656254678,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8181.png","name":"8181"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8181.png","name":"8181"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8042.png","name":"8042"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6179.png","name":"6179"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5160.png","name":"5160"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4755.png","name":"4755"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":620.7127450046366,"rotation_z_degrees":278.81764161776266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003811103746591056,-0.0027455208209146847,0.011675918940299231]},{"name":"camera_2","offset_m":[0.007098732982859689,-0.019534551632311003,-0.01653227008545707]},{"name":"camera_3","offset_m":[0.008140569486475933,0.014378251481692732,-0.008468219311368205]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018636209849888746,0.0015050394301132763,-0.0015932765597623142],"end_effector_yaw_offset_degrees":0.9542091977100999},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008396478324545517,0.0014067386928133473,-0.0006852452333009728],"end_effector_yaw_offset_degrees":0.017727734182742427},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001311246862770257,-0.0013889299248114849,-0.0014702562657755247],"end_effector_yaw_offset_degrees":-0.7692856758512923}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003311890296322361,-0.00028781523435530715],"position_m":[0.20028810970367764,-0.04608781523435531,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004976973746157488,-0.0034259193494585918],"position_m":[0.2397769737461575,-0.36702591934945855,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002330561944718504,0.0006133934760248396],"position_m":[0.1716305619447185,0.23071339347602485,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013814851900961142,-0.003894595530425791],"position_m":[0.3351814851900961,0.11380540446957421,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d577b7b77c5ff80a52901fb09ed754aa98485d6f8206a2dba383862db633847e","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8181/tex_ceiling_textures_4755/tex_floor_textures_5160/tex_table_textures_8042/tex_wall_textures_6179","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2122349660505145067,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2122349660505145067,"visual_seed":2122349660505145067,"scene_id":"lab_003","finished_at":"2026-09-04T08:58:01"}
+{"episode_id":"ep_000059","started_at":"2026-09-04T08:58:05","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.5196700648846788,-0.18584884376346578,0.71338606911949],"aabb_xy":[[0.5029929288915833,-0.20254876773739605],[0.5363472008777743,-0.1691489197895355]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[0.2625749038121936,0.7306889939069339,0.71338606911949],"aabb_xy":[[0.25453154388623844,0.6456889928115674],[0.2706182637381488,0.8156889950023003]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.5840596550634702,-0.7080527710515097,0.71338606911949],"aabb_xy":[[-0.5881955113961704,-0.7455527704958667],[-0.57992379873077,-0.6705527716071527]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.5899959852856638,1.382039279683823,0.71338606911949],"aabb_xy":[[-0.6082018089469114,1.3710138791018316],[-0.5717901616244161,1.3930646802658149]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.29082156383688007,1.492182600425997,0.71338606911949],"aabb_xy":[[0.27381146654682936,1.4760481119277231],[0.30783166112693067,1.508317088924271]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.5426631318375221,-2.115953947728277,0.71338606911949],"aabb_xy":[[-0.6066631332455127,-2.167742899252201],[-0.4786631304295314,-2.064164996204352]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.2871723002168514,1.6001494111469294,0.71338606911949],"aabb_xy":[[-0.33325739147158284,1.5361494138943745],[-0.2410872089621199,1.6641494083994848]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[-0.1846243244726582,-0.4536005592808605,0.71338606911949],"aabb_xy":[[-0.22212432457825113,-0.46042272113384164],[-0.1471243243670652,-0.4467783974278794]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.5461385571755614,0.959582984095471,0.71338606911949],"aabb_xy":[[-0.6361385568987354,0.9365096315602912],[-0.45613855745238713,0.9826563366306509]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.3468156677656833,0.5201156870133667,0.71338606911949],"aabb_xy":[[0.3391124770916062,0.5124063163146286],[0.3545188584397603,0.5278250577121046]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.11419978029287603,1.3198337320639943,0.71338606911949],"aabb_xy":[[0.08587007034433582,1.3153729898702773],[0.14252949024141626,1.3242944742577114]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[0.5766560566682983,-2.0614440624483628,0.71338606911949],"aabb_xy":[[0.5428804974776053,-2.0754825576615277],[0.6104316158589912,-2.047405567235198]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[-0.5436262179607738,0.8827596177686923,0.71338606911949],"aabb_xy":[[-0.5786262162714693,0.8750446028451465],[-0.5086262196500784,0.8904746326922378]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[-0.11910113721499438,1.369508477047349,0.71338606911949],"aabb_xy":[[-0.18910113985158072,1.3494036120514832],[-0.04910113457840802,1.3896133420432142]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[0.09563399354406954,1.7482975229190818,0.71338606911949],"aabb_xy":[[0.058133993046711296,1.7443288393709633],[0.13313399404142778,1.7522662064672003]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[-0.5293794746225053,0.30604945359851055,0.71338606911949],"aabb_xy":[[-0.5343354948073865,0.283549453396389],[-0.5244234544376242,0.3285494538006322]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.5302628236505651,-1.3878747063347137,0.71338606911949],"aabb_xy":[[0.5002952667407394,-1.4178747066325994],[0.5602303805603908,-1.357874706036828]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.01500768719995671,-1.9717906656378221,0.71338606911949],"aabb_xy":[[-0.05250768871558842,-1.9830174386539672],[0.022492314315675,-1.960563892621677]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.6291364586963312,-1.6600482129575451,0.71338606911949],"aabb_xy":[[-0.6931364609167382,-1.7044212970828334],[-0.5651364564759241,-1.6156751288322568]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[0.04969677952182716,-0.846749798000273,0.71338606911949],"aabb_xy":[[0.019705116787956833,-0.8767497973370735],[0.07968844225569749,-0.8167497986634724]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[0.34051596464332023,0.40124328827932665,0.71338606911949],"aabb_xy":[[0.3278891773561239,0.3916972145777537],[0.3531427519305166,0.4107893619808995]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.3662109480550459,-0.2082104309788244,0.71338606911949],"aabb_xy":[[-0.3837109473331327,-0.22554853104517034],[-0.34871094877695896,-0.19087233091247843]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.14173317432219523,-1.4805120759877175,0.71338606911949],"aabb_xy":[[-0.20573317458266602,-1.5255208753406455],[-0.0777331740617244,-1.4355032766347895]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[-0.46089163896091334,0.6363657085912342,0.71338606911949],"aabb_xy":[[-0.4689179095915394,0.6276142136138817],[-0.4528653683302874,0.6451172035685869]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.3785517354184047,-1.915956542334642,0.71338606911949],"aabb_xy":[[0.36567983191746456,-1.995956542748478],[0.39142363891934484,-1.8359565419208057]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[-0.5520086998862554,-0.4472626038844103,0.71338606911949],"aabb_xy":[[-0.6220087032778174,-0.48257837758784106],[-0.4820086964946935,-0.41194683018097933]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[0.64905572245299,0.0691744668173433,0.71338606911949],"aabb_xy":[[0.5840557214958628,0.01722625488363771],[0.7140557234101172,0.12112267875104886]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.669161430773198,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3010.png","name":"3010"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3010.png","name":"3010"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7546.png","name":"7546"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9600.png","name":"9600"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2372.png","name":"2372"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6685.png","name":"6685"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":757.8673906726315,"rotation_z_degrees":263.7393799221667,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0036398796764474765,-0.0021134301148657414,0.01402971523976745]},{"name":"camera_2","offset_m":[0.0063771529568359756,-0.010710152743091665,0.01870146913563413]},{"name":"camera_3","offset_m":[-0.006384920646093585,-0.005608559149558157,-0.014668277291779903]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005433951364096383,0.0012854681767731592,-0.00016637779955951224],"end_effector_yaw_offset_degrees":-0.17665336027302248},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003369976666861656,0.0012375159257543818,0.00033172535298134354],"end_effector_yaw_offset_degrees":0.25992727647104874},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000931687778790039,0.0013583334414728298,0.00046057233001681967],"end_effector_yaw_offset_degrees":0.8825388778515526}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003843819656333669,0.0013407543204705767],"position_m":[0.19975618034366632,-0.04445924567952943,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002811192350404444,-0.0016589771863822047],"position_m":[0.23761119235040445,-0.36525897718638217,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001251895397671848,0.001226914963685182],"position_m":[0.17055189539767185,0.23132691496368518,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011694687146193649,-0.004647039207525784],"position_m":[0.3326305312853806,0.11305296079247422,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f5512da3335c428e18d0ecf4729f8cb5cdaefce950ec57096fbc4133076c6949","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3010/tex_ceiling_textures_6685/tex_floor_textures_2372/tex_table_textures_7546/tex_wall_textures_9600","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7184825608852442081,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7184825608852442081,"visual_seed":7184825608852442081,"scene_id":"lab_003","finished_at":"2026-09-04T09:00:48"}
+{"episode_id":"ep_000060","started_at":"2026-09-04T09:00:51","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.6868964131545492,-0.7639402704602676,0.71338606911949],"aabb_xy":[[0.6643964131444009,-0.7780364900998706],[0.7093964131646975,-0.7498440508206641]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[0.4035544834533804,0.7217679894805236,0.71338606911949],"aabb_xy":[[0.3135544867177702,0.6685845261632289],[0.4935544801889906,0.774951452797818]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.24055518388054353,1.55686781997032,0.71338606911949],"aabb_xy":[[0.2030551832159648,1.5411807619700977],[0.2780551845451222,1.572554877970542]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.05541176432315886,1.5066689086473377,0.71338606911949],"aabb_xy":[[-0.02458823783960362,1.426713725021194],[0.13541176648592135,1.5866240922734813]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[-0.1601809182301046,1.5303643647098002,0.71338606911949],"aabb_xy":[[-0.1851809175020669,1.514019001113638],[-0.13518091895814233,1.5467097283059628]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_5","position":[-0.22193075023432035,-0.851124491803654,0.71338606911949],"aabb_xy":[[-0.25026046018286063,-0.8555852339973711],[-0.19360104028578015,-0.846663749609937]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[-0.5960332882614701,-0.31355210158031577,0.71338606911949],"aabb_xy":[[-0.6660332898637495,-0.3269848947819733],[-0.5260332866591906,-0.30011930837865813]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.1528116639316761,0.5874097576516939,0.71338606911949],"aabb_xy":[[-0.21681166123402248,0.543043330683837],[-0.08881166662932968,0.6317761846195505]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[0.41120579397674484,0.6122062044477521,0.71338606911949],"aabb_xy":[[0.40587327932213185,0.6068818762025165],[0.4165383086313578,0.6175305326929876]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.4912642172282242,1.7574392547831308,0.71338606911949],"aabb_xy":[[-0.5552642145138729,1.7159325358302868],[-0.4272642199425755,1.7989459737359748]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.625698830844166,1.0579979020728447,0.71338606911949],"aabb_xy":[[0.6078297230897105,1.0441649940956335],[0.6435679385986215,1.0718308100500555]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.6713081106555687,0.69857259061641,0.71338606911949],"aabb_xy":[[-0.6830762974502262,0.6135725907111884],[-0.6595399238609112,0.7835725905216316]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[0.6735155578692522,1.3538336820257508,0.71338606911949],"aabb_xy":[[0.6435480009594265,1.3238336817278649],[0.7034831147790779,1.3838336823236363]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[-0.24703695387035407,-2.5009009443345342,0.71338606911949],"aabb_xy":[[-0.3170369565069404,-2.5210058093303993],[-0.17703695123376773,-2.4807960793386683]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[-0.5512623553538052,-1.169214364458718,0.71338606911949],"aabb_xy":[[-0.6312561789323635,-1.2492143670515596],[-0.4712685317752471,-1.0892143618658765]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.21122868769183573,0.7793975049641197,0.71338606911949],"aabb_xy":[[-0.24552559870957633,0.7451006187541782],[-0.17693177667409507,0.8136943911740608]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[0.5534277358235193,1.5246097099337876,0.71338606911949],"aabb_xy":[[0.5499870595834622,1.5207482769594232],[0.5568684120635765,1.5284711429081521]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.7135175215642096,-1.8192416011192598,0.71338606911949],"aabb_xy":[[0.7098142602350707,-1.8229436194279776],[0.7172207828933485,-1.8155395828105416]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.41398947085712073,-1.7919040688069305,0.71338606911949],"aabb_xy":[[-0.43648947136916133,-1.814395927172329],[-0.39148947034508014,-1.7694122104415322]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.24767273353211927,-2.0248624573205327,0.71338606911949],"aabb_xy":[[-0.2652510357210661,-2.0424369468946377],[-0.23009443134317242,-2.0072879677464277]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_20","position":[-0.5875089448893231,0.13181309958100007,0.71338606911949],"aabb_xy":[[-0.6051845754779214,0.11413288330159728],[-0.5698333143007247,0.14949331586040276]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.407077221382489,0.846286657444967,0.71338606911949],"aabb_xy":[[-0.4670772230254109,0.7942865081530228],[-0.3470772197395672,0.8982868067369112]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.06511243986931747,-1.6007725501894905,0.71338606911949],"aabb_xy":[[0.06021314756275396,-1.6284494694920588],[0.07001173217588096,-1.5730956308869213]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[-0.37914376080960743,-2.22733756986716,0.71338606911949],"aabb_xy":[[-0.3870670410483558,-2.2498375701051634],[-0.37122048057085916,-2.2048375696291567]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[0.5913854315349458,1.179862938717462,0.71338606911949],"aabb_xy":[[0.5688854317210434,1.1753883223469814],[0.6138854313488482,1.184337555087943]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_25","position":[0.18915528720367147,-1.9353505084427978,0.71338606911949],"aabb_xy":[[0.17900227164952204,-1.9714200500155379],[0.19930830275782077,-1.8992809668700572]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[0.3372926927942226,-0.9146435041663235,0.71338606911949],"aabb_xy":[[0.3154029452052817,-1.0046435014555724],[0.3591824403831633,-0.8246435068770742]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_27","position":[-0.36050113477933776,-0.4064638953834936,0.71338606911949],"aabb_xy":[[-0.36791359032072624,-0.4123151058051216],[-0.3530886792379493,-0.4006126849618657]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[0.566558874188841,-1.1240489861421303,0.71338606911949],"aabb_xy":[[0.5584311859955279,-1.132962594552838],[0.5746865623821543,-1.1151353777314226]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_29","position":[0.4203706823673623,-1.2770118148232494,0.71338606911949],"aabb_xy":[[0.3563706820933841,-1.3270779150205374],[0.48437068264134053,-1.2269457146259615]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_30","position":[0.43647619921510716,1.1104371649732356,0.71338606911949],"aabb_xy":[[0.3991449226898646,1.0757841101783834],[0.4738074757403498,1.145090219768088]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_31","position":[-0.34917055090324567,1.4042649182808278,0.71338606911949],"aabb_xy":[[-0.37371676652599634,1.3740160217317905],[-0.3246243352804949,1.4345138148298646]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_32","position":[-0.5935325536764403,-0.6799865523620032,0.71338606911949],"aabb_xy":[[-0.6273081128671333,-0.6940250475751683],[-0.5597569944857473,-0.6659480571488382]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6614679200694927,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5883.png","name":"5883"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5883.png","name":"5883"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4093.png","name":"4093"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2605.png","name":"2605"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9686.png","name":"9686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8363.png","name":"8363"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":656.9179344067613,"rotation_z_degrees":262.7691872568607,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014524701429951357,0.0030959212367123005,0.006223029446235179]},{"name":"camera_2","offset_m":[-0.013229373874242714,0.01941283904274078,0.005492350308970061]},{"name":"camera_3","offset_m":[-0.010049736173938504,-0.012221297601057453,0.012611882565821953]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004932359239018891,0.00028900261013877155,-0.0014385609097766895],"end_effector_yaw_offset_degrees":0.08052744287986702},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013508982738769048,0.0014190361856208904,-0.00042478399603294035],"end_effector_yaw_offset_degrees":0.7704756332361602},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009984801612380294,2.4010501835090067e-05,-0.0006910020544360841],"end_effector_yaw_offset_degrees":-0.09722125501083223}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000284242941794092,-0.004119306722265303],"position_m":[0.2038842429417941,-0.0499193067222653,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004448175170112518,0.0012954895178235136],"position_m":[0.2303518248298875,-0.3623045104821765,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005689196157389253,0.00048341463683910374],"position_m":[0.16986891961573894,0.2305834146368391,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029050020271582243,0.004985823273760616],"position_m":[0.3308949979728418,0.12268582327376061,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4556608c275993e2e251b9070124ebeb087b7feb86b3da3cb424eda52d8c42d1","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5883/tex_ceiling_textures_8363/tex_floor_textures_9686/tex_table_textures_4093/tex_wall_textures_2605","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8492301836883766408,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8492301836883766408,"visual_seed":8492301836883766408,"scene_id":"lab_003","finished_at":"2026-09-04T09:03:34"}
+{"episode_id":"ep_000061","started_at":"2026-09-04T09:03:38","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.09401165957996283,-2.30518805952983,0.71338606911949],"aabb_xy":[[0.030015962184866227,-2.3691880578305384],[0.1580073569750594,-2.241188061229121]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.03518439189572553,-1.5491890018323,0.71338606911949],"aabb_xy":[[0.025102684817152048,-1.6291889997244144],[0.045266098974299,-1.4691890039401851]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[0.5897963636173502,0.5089134561241613,0.71338606911949],"aabb_xy":[[0.5297963627565373,0.45748702611767483],[0.6497963644781629,0.5603398861306476]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[-0.6077952063257327,-0.12998727970386614,0.71338606911949],"aabb_xy":[[-0.6160097514414166,-0.1386638700015074],[-0.5995806612100486,-0.12131068940622484]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.29790901359564836,-1.2924050901394166,0.71338606911949],"aabb_xy":[[0.22790901178690293,-1.313758858903604],[0.3679090154043938,-1.2710513213752292]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[0.33715446529807624,1.5305572655868844,0.71338606911949],"aabb_xy":[[0.3046927644161487,1.5004244334719816],[0.3696161661800036,1.5606900977017868]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.08728335274808607,-1.023109171088701,0.71338606911949],"aabb_xy":[[-0.17697042905620153,-1.1131091713431516],[0.0024037235600293666,-0.9331091708342505]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.5574221650631856,-0.6447159483946459,0.71338606911949],"aabb_xy":[[-0.590862340259205,-0.6781595742255758],[-0.5239819898671658,-0.6112723225637157]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.5894423245879157,-0.7454645092063739,0.71338606911949],"aabb_xy":[[0.4994423222538965,-0.8229468637914865],[0.6794423269219346,-0.6679821546212612]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.44892811499083396,0.3352138801261524,0.71338606911949],"aabb_xy":[[-0.45426569065683853,0.31021387919701265],[-0.4435905393248294,0.36021388105529223]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.45707483020939343,1.3734252199540702,0.71338606911949],"aabb_xy":[[-0.5370748273689687,1.3618776189962527],[-0.3770748330498181,1.3849728209118868]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[-0.10435614116157266,1.656743939338766,0.71338606911949],"aabb_xy":[[-0.18435613812461182,1.5796682976949923],[-0.024356144198533478,1.7338195809825392]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[0.21648801477928492,1.0607138622042243,0.71338606911949],"aabb_xy":[[0.18219110376154424,1.026416975994283],[0.2507849257970255,1.0950107484141656]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[0.09899031340559616,-1.2752432001817011,0.71338606911949],"aabb_xy":[[0.043990315203851334,-1.3157651668081385],[0.153990311607341,-1.2347212335552633]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[0.4776536723024569,-0.15415071542120184,0.71338606911949],"aabb_xy":[[0.44333739512783904,-0.20415071539437957],[0.5119699494770749,-0.10415071544802412]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[-0.07701150980001792,-1.7415490516138532,0.71338606911949],"aabb_xy":[[-0.13701151144293977,-1.7935492009057974],[-0.017011508157096067,-1.689548902321909]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[0.4473064142962184,0.43978979973496957,0.71338606911949],"aabb_xy":[[0.42819410693823956,0.42065502085772755],[0.4664187216541973,0.4589245786122116]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[0.6701823592990417,-0.35575044299839,0.71338606911949],"aabb_xy":[[0.6202996624213455,-0.40575044224466483],[0.7200650561767379,-0.3057504437521153]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.4634363862914328,-0.321928072369575,0.71338606911949],"aabb_xy":[[0.39843638840978507,-0.37305173607611586],[0.5284363841730806,-0.2708044086630341]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[0.13207900579868204,-0.5431073426511936,0.71338606911949],"aabb_xy":[[0.1280008478916323,-0.547188322899457],[0.13615716370573178,-0.5390263624029303]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[-0.09741920719428754,0.13833847639353358,0.71338606911949],"aabb_xy":[[-0.16141920745475832,0.09332967704060559],[-0.03341920693381672,0.1833472757464616]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[0.03845273269604077,0.9068101074655597,0.71338606911949],"aabb_xy":[[0.0329947870590207,0.8268101041579003],[0.04391067833306084,0.9868101107732186]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.6459940289717916,1.527453444570734,0.71338606911949],"aabb_xy":[[0.6271096452032814,1.5085675197903812],[0.6648784127403018,1.5463393693510867]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[0.4958372693726172,-1.0446193766305998,0.71338606911949],"aabb_xy":[[0.46137479135952947,-1.0512830538135225],[0.530299747385705,-1.0379556994476766]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[0.22607633280048967,0.7407345436127901,0.71338606911949],"aabb_xy":[[0.17607705763205353,0.690734542336843],[0.27607560796892583,0.7907345448887373]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_25","position":[0.4923994799298612,1.202554914991465,0.71338606911949],"aabb_xy":[[0.4789529532958179,1.1890850633383736],[0.5058460065639045,1.2160247666445563]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[0.08030620646205855,1.0581982455000696,0.71338606911949],"aabb_xy":[[0.055085369602218874,1.0329744946471824],[0.1055270433218982,1.0834219963529559]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[-0.4198406441218408,-0.2791579461982425,0.71338606911949],"aabb_xy":[[-0.49984064737968376,-0.3591544539902265],[-0.33984064086399784,-0.19916143840625855]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_28","position":[0.6100444218400984,0.660893054783215,0.71338606911949],"aabb_xy":[[0.5550512105029617,0.6058930544444214],[0.6650376331772352,0.7158930551220086]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[-0.24159121120928723,-0.32804925656192774,0.71338606911949],"aabb_xy":[[-0.2765912111857831,-0.33751387260954435],[-0.20659121123279142,-0.3185846405143111]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[-0.2963884766824012,-0.47887627057970183,0.71338606911949],"aabb_xy":[[-0.31388847692745053,-0.49637605841926863],[-0.27888847643735176,-0.46137648274013493]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_31","position":[-0.3189583414576328,0.25699998691870585,0.71338606911949],"aabb_xy":[[-0.36895834281852,0.2070220823432902],[-0.2689583400967456,0.3069778914941214]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_32","position":[0.6390315094204122,-1.4528644222912634,0.71338606911949],"aabb_xy":[[0.5750315077424148,-1.5013818137705774],[0.7030315110984096,-1.404347030811949]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679507623222052,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9497.png","name":"9497"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2917.png","name":"2917"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1761.png","name":"1761"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3349.png","name":"3349"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":552.762139712209,"rotation_z_degrees":138.37680264707703,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018581242501706518,-0.0047971180007816815,-0.019755590549349784]},{"name":"camera_2","offset_m":[-0.0048052824106031185,0.014540318568037513,-0.015843562869383942]},{"name":"camera_3","offset_m":[-0.009685998657658939,0.011887417348939843,-0.005910138159033514]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000986606153295609,0.00090505934979107,-0.0017227623150564684],"end_effector_yaw_offset_degrees":0.5029102735357802},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001324295193887522,-0.0011247140318692782,-0.0019002314840819291],"end_effector_yaw_offset_degrees":0.7026919954594708},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[2.4199295904401598e-05,0.0005467323712716522,0.0012307124570294231],"end_effector_yaw_offset_degrees":0.6130881155932517}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00202578032937637,0.0030919428469498153],"position_m":[0.20157421967062364,-0.042708057153050184,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021047954556833778,-0.0005249218053635296],"position_m":[0.23690479545568338,-0.3641249218053635,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007552282783235623,0.0028925187125076095],"position_m":[0.16854477172167645,0.23299251871250762,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003831640214292261,-0.0025957759393988125],"position_m":[0.33763164021429226,0.11510422406060118,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1acebe62760a903f71d9e21ebea49012e788be944b3dc264c9cb71e7df1369e8","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0061.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3034/tex_ceiling_textures_3349/tex_floor_textures_1761/tex_table_textures_9497/tex_wall_textures_2917","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3113382383618819262,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3113382383618819262,"visual_seed":3113382383618819262,"scene_id":"lab_003","finished_at":"2026-09-04T09:06:23"}
+{"episode_id":"ep_000062","started_at":"2026-09-04T09:06:26","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[0.37645129887555484,-0.9945139188593917,0.71338606911949],"aabb_xy":[[0.3351467558118188,-1.0585139184275087],[0.4177558419392908,-0.9305139192912745]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[-0.3925067442753373,-0.47618069719111045,0.71338606911949],"aabb_xy":[[-0.4123977841556776,-0.48883650847580734],[-0.3726157043949971,-0.46352488590641366]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[-0.47372958121596287,1.1759086292101633,0.71338606911949],"aabb_xy":[[-0.5587295796333861,1.0910343337478785],[-0.38872958279853964,1.2607829246724485]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.04534460073754476,-0.9050551066516215,0.71338606911949],"aabb_xy":[[-0.11534460233982424,-0.9184878998532792],[0.024655400864734715,-0.891622313449964]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.054523515894847385,-1.828478475896067,0.71338606911949],"aabb_xy":[[-0.09952351736107626,-1.8734783327575482],[-0.009523514428618535,-1.7834786190345868]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[-0.45503530844131446,1.0074443345055313,0.71338606911949],"aabb_xy":[[-0.4925353086131864,0.9747435991226239],[-0.4175353082694425,1.0401450698884382]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[0.3788073916896135,-1.3539598358214913,0.71338606911949],"aabb_xy":[[0.36565614571832417,-1.3789598355781778],[0.39195863766090294,-1.3289598360648047]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.47052705106036097,-0.0024491310517777976,0.71338606911949],"aabb_xy":[[0.4337324179354546,-0.03935500614836007],[0.5073216841852671,0.03445674404480448]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.0629206926083189,-0.9942680126612313,0.71338606911949],"aabb_xy":[[0.05758311694231433,-1.0192680135903711],[0.06825826827432346,-0.9692680117320915]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[0.6713655121376365,-0.5825163048342454,0.71338606911949],"aabb_xy":[[0.6213655134917153,-0.6324358484937078],[0.7213655107835577,-0.532596761174783]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.017299985835778853,-0.6647386382299143,0.71338606911949],"aabb_xy":[[-0.03497561642437718,-0.6824188545093169],[0.0003756447528194817,-0.6470584219505114]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[0.17261339906313933,-0.8775499884240157,0.71338606911949],"aabb_xy":[[0.12261412389470319,-0.9275499896999628],[0.22261267423157552,-0.8275499871480685]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[-0.3462323267943958,1.4722896154603533,0.71338606911949],"aabb_xy":[[-0.37407736357500293,1.4415051167220416],[-0.3183872900137887,1.503074114198665]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[-0.15693076293533448,-1.231791624141385,0.71338606911949],"aabb_xy":[[-0.22093076527813602,-1.2767324753855174],[-0.0929307605925329,-1.1868507728972524]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[-0.5748934234325531,-0.2633720423768371,0.71338606911949],"aabb_xy":[[-0.6123934237807809,-0.27516343795792064],[-0.5373934230843254,-0.25158064679575354]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[-0.603782928027247,-2.4697053453387565,0.71338606911949],"aabb_xy":[[-0.6262829282707624,-2.481909979998529],[-0.5812829277837316,-2.457500710678985]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[-0.5141407900200319,-0.8085517494069914,0.71338606911949],"aabb_xy":[[-0.5681563863019319,-0.8725517522992486],[-0.4601251937381319,-0.7445517465147343]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[0.4610751759736518,1.1871339483979337,0.71338606911949],"aabb_xy":[[0.42357517547629353,1.183165264849815],[0.49857517647101,1.191102631946052]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.4762527835510343,-1.3262663472250567,0.71338606911949],"aabb_xy":[[-0.5402527849590248,-1.3780552987489814],[-0.4122527821430436,-1.274477395701132]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[-0.413422752740797,0.710375191997136,0.71338606911949],"aabb_xy":[[-0.4784227512978698,0.6806226585832533],[-0.34842275418372415,0.7401277254110186]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[0.42625757496897143,-2.560534972049041,0.71338606911949],"aabb_xy":[[0.4012575758033384,-2.5674872177543975],[0.4512575741346046,-2.5535827263436843]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.04231900070368877,1.0782321133592299,0.71338606911949],"aabb_xy":[[-0.0502422809424371,1.0557321131212267],[-0.03439572046494044,1.1007321135972334]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[-0.33153209673681594,1.272760879052635,0.71338606911949],"aabb_xy":[[-0.3352353580659549,1.269058860743917],[-0.3278288354076771,1.2764628973613525]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[0.4186054513974189,1.3935070053005814,0.71338606911949],"aabb_xy":[[0.3821096307701401,1.3570230628738236],[0.4551012720246976,1.4299909477273387]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[-0.036262248168158484,-0.8084287847469451,0.71338606911949],"aabb_xy":[[-0.045609255750453714,-0.8227324069645892],[-0.026915240585863254,-0.7941251625293011]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_25","position":[-0.2658810206310177,0.23563478959912265,0.71338606911949],"aabb_xy":[[-0.26979489382644023,0.2268857741925659],[-0.2619671474355952,0.2443838050056794]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_26","position":[0.4363796930164583,-2.074754865328639,0.71338606911949],"aabb_xy":[[0.3993455835883985,-2.1091320726623484],[0.473413802444518,-2.0403776579949295]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[-0.38038078680207843,0.05845462502069454,0.71338606911949],"aabb_xy":[[-0.38742109673561553,-0.02154537437897686],[-0.3733404768685415,0.13845462442036596]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[0.6101171793089826,-1.6472292318067812,0.71338606911949],"aabb_xy":[[0.5301171760449694,-1.6607892641156943],[0.6901171825729957,-1.6336691994978676]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_29","position":[-0.11424989182230649,-2.159162182032553,0.71338606911949],"aabb_xy":[[-0.19424989508014942,-2.239158689824537],[-0.03424988856446351,-2.079165674240569]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_30","position":[0.14974424737446246,1.5682540494484667,0.71338606911949],"aabb_xy":[[0.1410302783245279,1.545754048789278],[0.1584582164243969,1.5907540501076545]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_31","position":[-0.3095449214110337,0.8995632906877251,0.71338606911949],"aabb_xy":[[-0.3270449216703703,0.8854717484989526],[-0.29204492115169706,0.9136548328764978]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_32","position":[0.57655193590137,-0.7520563414152086,0.71338606911949],"aabb_xy":[[0.5115519377454509,-0.7783525859651208],[0.641551934057289,-0.7257600968652964]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_33","position":[-0.550189169299748,-1.8139339248650135,0.71338606911949],"aabb_xy":[[-0.5562261823004128,-1.8199606259339618],[-0.5441521562990833,-1.8079072237960656]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681173065655142,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6464.png","name":"6464"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6464.png","name":"6464"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9851.png","name":"9851"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5982.png","name":"5982"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7295.png","name":"7295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3274.png","name":"3274"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":791.8719159228865,"rotation_z_degrees":145.9290064016256,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0059962138153619015,0.004317373366398765,0.0008671158164784976]},{"name":"camera_2","offset_m":[-0.003761500424160541,-0.002405238265867221,-0.00870899471985163]},{"name":"camera_3","offset_m":[-0.00859872708815165,0.01887174672827915,0.01528127480527736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014319772117346412,-0.0013821281529650823,-0.0003044447047737635],"end_effector_yaw_offset_degrees":0.666855417519783},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010643212445393792,-0.0013458305100312183,0.0018594402416269285],"end_effector_yaw_offset_degrees":-0.8241094321099711},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.390255143007054e-05,-0.001815708399983852,-0.0016904988576365444],"end_effector_yaw_offset_degrees":0.8535785579243083}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004576300783683961,0.0010848906339880303],"position_m":[0.20817630078368396,-0.044715109366011974,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032656004507067076,0.0009595187650546701],"position_m":[0.2380656004507067,-0.3626404812349453,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00481490217037275,0.0030456245224285148],"position_m":[0.16448509782962725,0.2331456245224285,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045533990074993844,-0.004415292676498284],"position_m":[0.3292466009925006,0.11328470732350171,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2b31b715ce4862ae16fe6a6c2dbb92a480b4c3e0186f4cb18515448e6e506521","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6464/tex_ceiling_textures_3274/tex_floor_textures_7295/tex_table_textures_9851/tex_wall_textures_5982","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2863548572795108822,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2863548572795108822,"visual_seed":2863548572795108822,"scene_id":"lab_003","finished_at":"2026-09-04T09:09:11"}
+{"episode_id":"ep_000063","started_at":"2026-09-04T09:09:18","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.08089751957148927,0.9082926416863994,0.71338606911949],"aabb_xy":[[-0.09839751884957615,0.8909545416200535],[-0.0633975202934024,0.9256307417527454]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.41097070837571953,-1.9480718022217323,0.71338606911949],"aabb_xy":[[-0.4519886517620904,-1.9980718028526898],[-0.36995276498934865,-1.8980718015907752]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[-0.09982877092144793,-1.4262194636233947,0.71338606911949],"aabb_xy":[[-0.1141631960476114,-1.4382796791779335],[-0.08549434579528449,-1.4141592480688558]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.40713731464011726,1.1803124620351717,0.71338606911949],"aabb_xy":[[-0.41655478920998,1.1708962848974525],[-0.3977198400702545,1.1897286391728905]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.48342694626073457,-0.8771206261429194,0.71338606911949],"aabb_xy":[[-0.5434269465121357,-0.9314019511793841],[-0.42342694600933334,-0.8228393011064548]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.500956035624712,-0.47013418067225743,0.71338606911949],"aabb_xy":[[-0.5058553279312754,-0.49781109997482614],[-0.4960567433181484,-0.4424572613696886]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.2757233820804243,0.34346785024442816,0.71338606911949],"aabb_xy":[[-0.27916405832048147,0.3396064172700637],[-0.2722827058403671,0.34732928321879264]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.6380100511722544,-1.7441484004587173,0.71338606911949],"aabb_xy":[[0.6005100510003823,-1.7768491358416245],[0.6755100513441262,-1.7114476650758101]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.2037962247532098,0.24202105790969153,0.71338606911949],"aabb_xy":[[-0.2214718553418081,0.22434084163028872],[-0.18612059416461144,0.25970127418909417]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.5154302128421546,-1.0821374824770649,0.71338606911949],"aabb_xy":[[-0.5654302122823502,-1.132105406961381],[-0.465430213401959,-1.0321695579927483]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[0.6420100350309264,0.14501970699222388,0.71338606911949],"aabb_xy":[[0.5820100345230733,0.0881729733063026],[0.7020100355387792,0.2018664406781452]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[-0.5289753875549428,1.5313578815835753,0.71338606911949],"aabb_xy":[[-0.583970865375602,1.4763578801496684],[-0.4739799097342833,1.5863578830174823]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.1300339296004256,-0.7800190785485148,0.71338606911949],"aabb_xy":[[-0.1533157717985569,-0.8650190798457428],[-0.10675208740229424,-0.6950190772512866]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[0.4694735967419337,1.207558211256703,0.71338606911949],"aabb_xy":[[0.46337896885381535,1.1989888167050344],[0.475568224630052,1.2161276058083719]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[0.33813569588234715,-1.3989334615434046,0.71338606911949],"aabb_xy":[[0.258135698919308,-1.476009103187178],[0.4181356928453863,-1.3218578198996311]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[-0.2102394631117337,1.1791093109193187,0.71338606911949],"aabb_xy":[[-0.2742394604140801,1.134742883951462],[-0.14623946580938726,1.2234757378871755]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.17534238844600158,1.294005768183085,0.71338606911949],"aabb_xy":[[0.15784245501201818,1.2765057682628504],[0.19284232187998493,1.3115057681033195]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[0.6661119232010329,0.5762065016100073,0.71338606911949],"aabb_xy":[[0.6505561537907676,0.5606560683656002],[0.6816676926112981,0.5917569348544146]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[0.1481114645553595,-1.2530975696448583,0.71338606911949],"aabb_xy":[[0.1384798283349299,-1.2627348824245672],[0.15774310077578912,-1.2434602568651494]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.2407576691088698,-1.3777412877728257,0.71338606911949],"aabb_xy":[[-0.24487361922094247,-1.381856842805671],[-0.23664171899679715,-1.37362573273998]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[-0.3851059452905571,-1.843290744331334,0.71338606911949],"aabb_xy":[[-0.4195684233036448,-1.849954421514257],[-0.35064346727746926,-1.8366270671484115]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[0.2811152143764536,-2.35963059706163,0.71338606911949],"aabb_xy":[[0.2713592248672797,-2.3693931311208645],[0.2908712038856275,-2.3498680630023956]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[0.534002938805086,-1.1960536378200566,0.71338606911949],"aabb_xy":[[0.4540029366423235,-1.2760088214462],[0.6140029409678485,-1.1160984541939127]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6620852347189665,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6505.png","name":"6505"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6505.png","name":"6505"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9987.png","name":"9987"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5862.png","name":"5862"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6884.png","name":"6884"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7967.png","name":"7967"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":550.6004490814561,"rotation_z_degrees":75.89665654236788,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007507191550594063,-0.006693927219353605,0.0011242884361552588]},{"name":"camera_2","offset_m":[-0.00015539158180877255,-0.01869643014422659,-0.01733587307691781]},{"name":"camera_3","offset_m":[0.0033328622414500464,-0.007283929962789473,-0.019137978905286145]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012903373711914674,0.00128335023734411,-0.00010531428097935438],"end_effector_yaw_offset_degrees":0.45784823795775687},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.0410792804465933e-06,-0.0003523603965594991,-0.0018332321153380475],"end_effector_yaw_offset_degrees":-0.17179015744360693},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004072096027378262,-0.00026918130339857976,0.0015673063303586155],"end_effector_yaw_offset_degrees":-0.7074604278789802}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004264237240867976,-0.0026564639361315655],"position_m":[0.19933576275913203,-0.048456463936131566,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003821880679809914,0.0011251608513321906],"position_m":[0.2309781193201901,-0.3624748391486678,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0046030186835563786,0.0035011232774206187],"position_m":[0.1646969813164436,0.2336011232774206,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004444618626812893,-0.001752158665130731],"position_m":[0.3382446186268129,0.11594784133486927,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"336dc2cdee8b639de8825c953517adbd908343eec410a0f35e57e72e00c5423f","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6505/tex_ceiling_textures_7967/tex_floor_textures_6884/tex_table_textures_9987/tex_wall_textures_5862","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2689692906324270590,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2689692906324270590,"visual_seed":2689692906324270590,"scene_id":"lab_003","finished_at":"2026-09-04T09:11:37"}
+{"episode_id":"ep_000064","started_at":"2026-09-04T09:11:41","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.5433742614898722,0.7740852952974722,0.71338606911949],"aabb_xy":[[0.4933742602060323,0.72410644090685],[0.5933742627737122,0.8240641496880942]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[0.5789268845402749,1.606342311047254,0.71338606911949],"aabb_xy":[[0.553926884607757,1.5994596428263308],[0.6039268844727927,1.6132249792681774]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[0.2375960533128464,0.5203246129808599,0.71338606911949],"aabb_xy":[[0.2282490457305512,0.5060209907632158],[0.24694306089514165,0.5346282351985039]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.4561517848293719,-1.5530324156467892,0.71338606911949],"aabb_xy":[[0.3911517869477242,-1.6041560793533303],[0.5211517827110197,-1.5019087519402485]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[-0.23031892175079866,1.1767912980167923,0.71338606911949],"aabb_xy":[[-0.23565143640541164,1.1714669697715567],[-0.22498640709618567,1.1821156262620278]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.1278885388361084,-2.0968865490560873,0.71338606911949],"aabb_xy":[[0.06388853561747057,-2.1436096609550956],[0.19188854205474629,-2.050163437157079]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[-0.37955162587685465,-0.9493543942848806,0.71338606911949],"aabb_xy":[[-0.397051559310838,-0.9668543942051151],[-0.3620516924428713,-0.931854394364646]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_7","position":[0.37334371939977173,1.0740010196311145,0.71338606911949],"aabb_xy":[[0.3574592261344466,1.0596480793322904],[0.3892282126650969,1.0883539599299386]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[-0.5579955253968869,-0.12526745647934012,0.71338606911949],"aabb_xy":[[-0.5780539370101272,-0.14533254338849766],[-0.5379371137836466,-0.10520236957018259]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.5766005312862919,1.6361085857217224,0.71338606911949],"aabb_xy":[[-0.6406005305804601,1.5721224453528682],[-0.5126005319921236,1.7000947260905765]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.6171863426645025,1.205313397021404,0.71338606911949],"aabb_xy":[[-0.667186342104698,1.1553454725370875],[-0.5671863432243067,1.2552813215057201]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.44394402005130984,-1.7124196411776786,0.71338606911949],"aabb_xy":[[-0.4789440214027915,-1.7327793771344995],[-0.40894401869982805,-1.6920599052208578]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.19230547247698093,-0.8071205031675024,0.71338606911949],"aabb_xy":[[-0.24011164009074956,-0.8721205058745611],[-0.14449930486321227,-0.7421205004604433]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.3972823773283257,-1.0896603941657577,0.71338606911949],"aabb_xy":[[-0.400723053568383,-1.0935218271401221],[-0.39384170108826866,-1.0857989611913932]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[0.009999130587163063,-2.2091153798217604,0.71338606911949],"aabb_xy":[[-0.0031521153841263,-2.2341153795784474],[0.023150376558452423,-2.1841153800650743]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[0.46735522401730134,0.9870342680685265,0.71338606911949],"aabb_xy":[[0.45412427848262,0.9738068490465268],[0.4805861695519826,1.0002616870905257]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[0.25222576625203885,1.0406808746679395,0.71338606911949],"aabb_xy":[[0.23472576711767165,1.0308012476303514],[0.26972576538640597,1.050560501705527]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[0.5083987168966149,-2.0896543818582844,0.71338606911949],"aabb_xy":[[0.5013572659458672,-2.096681133596079],[0.5154401678473624,-2.08262763012049]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[0.34938027885397016,-1.2622882182203767,0.71338606911949],"aabb_xy":[[0.3243802793022317,-1.2724307020855112],[0.37438027840570864,-1.2521457343552418]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[-0.18349361701951827,0.7750277821785403,0.71338606911949],"aabb_xy":[[-0.23347785272769547,0.7250277833650448],[-0.13350938131134102,0.825027780992036]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[-0.200728893728763,1.3370152659234518,0.71338606911949],"aabb_xy":[[-0.22524251782576887,1.3127506726214153],[-0.17621526963175715,1.3612798592254882]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[-0.29967572941568515,0.2784603645046406,0.71338606911949],"aabb_xy":[[-0.3069194954619305,0.19846036630103825],[-0.29243196336943983,0.358460362708243]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.249811872783115,-0.12530306798691537,0.71338606911949],"aabb_xy":[[-0.2822735736650424,-0.15543590010181796],[-0.21735017190118752,-0.09517023587201275]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.041072810897822554,-1.171882895856242,0.71338606911949],"aabb_xy":[[0.018572811374115154,-1.1943788433068625],[0.06357281042152996,-1.149386948405621]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[0.6216421079915422,-1.1504896276043222,0.71338606911949],"aabb_xy":[[0.6112305493110584,-1.1558353609402203],[0.6320536666720258,-1.1451438942684236]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[-0.48810024302950195,-0.17033899909737116,0.71338606911949],"aabb_xy":[[-0.4953614905999094,-0.18312600936088064],[-0.4808389954590946,-0.15755198883386168]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[0.6433981531034907,-0.5874572197743408,0.71338606911949],"aabb_xy":[[0.5933981520843554,-0.6239234355121688],[0.693398154122626,-0.5509910040365129]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[-0.6109560235977007,1.0032432651979155,0.71338606911949],"aabb_xy":[[-0.6749560256474327,0.9631487821086075],[-0.5469560215479687,1.0433377482872235]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631135930136527,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9752.png","name":"9752"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9752.png","name":"9752"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4708.png","name":"4708"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2073.png","name":"2073"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5744.png","name":"5744"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7123.png","name":"7123"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":828.1234534419063,"rotation_z_degrees":44.13925219378737,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007786207321024748,0.008517705679473075,0.01019743334547249]},{"name":"camera_2","offset_m":[0.0077891982724239,-0.0020539770233088846,0.006311874363142199]},{"name":"camera_3","offset_m":[0.009779046983580352,0.007008396719417064,-0.014939303454248539]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019993709082722633,0.0008368272577111736,0.0016009509323629354],"end_effector_yaw_offset_degrees":0.44120066211569964},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008741241582587906,0.0015145606608763648,-0.001117506642780437],"end_effector_yaw_offset_degrees":-0.922306522034618},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000643890244409381,-0.000415827770288232,0.001557782832995402],"end_effector_yaw_offset_degrees":0.25783651027714427}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019434382047229895,-0.0039060037399197703],"position_m":[0.20165656179527702,-0.04970600373991977,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023743612220177156,0.0014609061176358209],"position_m":[0.23242563877798228,-0.36213909388236415,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007332710174341051,0.004709595926810371],"position_m":[0.1685667289825659,0.23480959592681036,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007739369539723094,-0.0047296856955152235],"position_m":[0.33302606304602766,0.11297031430448477,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2100cfb7933b040ebca84e0f625d732adf33b260cd6a4c16794715c4acc8837e","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9752/tex_ceiling_textures_7123/tex_floor_textures_5744/tex_table_textures_4708/tex_wall_textures_2073","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5848986404969573816,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5848986404969573816,"visual_seed":5848986404969573816,"scene_id":"lab_003","finished_at":"2026-09-04T09:14:24"}
+{"episode_id":"ep_000065","started_at":"2026-09-04T09:14:27","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[0.23463422079686402,1.4948836258927511,0.71338606911949],"aabb_xy":[[0.1847515239191678,1.4448836266464764],[0.2845169176745602,1.544883625139026]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[0.19803791207914445,1.7920980787548264,0.71338606911949],"aabb_xy":[[0.1611873641421568,1.7545980779317925],[0.23488846001613203,1.82959807957786]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.4042403053048257,0.5070901537773653,0.71338606911949],"aabb_xy":[[-0.44278599813002667,0.46854438272117654],[-0.3656946124796246,0.5456359248335538]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[-0.2116063274918757,-2.0644020708396114,0.71338606911949],"aabb_xy":[[-0.22870840545024382,-2.081508876370881],[-0.1945042495335075,-2.0472952653083416]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.37318658019626016,0.5866811243502226,0.71338606911949],"aabb_xy":[[0.29318658318201213,0.5665465726768113],[0.4531865772105081,0.6068156760236338]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.30916487482386174,-0.940056797619353,0.71338606911949],"aabb_xy":[[-0.38916487529407773,-0.9483675052337014],[-0.2291648743536458,-0.9317460900050046]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[0.5656981818419808,-2.2276784294574474,0.71338606911949],"aabb_xy":[[0.5622575056019237,-2.231539862431812],[0.569138858082038,-2.223816996483083]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.5790417512666237,-0.7265808728890721,0.71338606911949],"aabb_xy":[[-0.5936851568206567,-0.7412395925458563],[-0.5643983457125907,-0.7119221532322878]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.07071859262379465,-1.0073940599299744,0.71338606911949],"aabb_xy":[[-0.08839422321239299,-1.0250742762093772],[-0.053042962035196324,-0.9897138436505718]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.2579414563879764,-0.7862924994026539,0.71338606911949],"aabb_xy":[[-0.29294145469867183,-0.7940075143261994],[-0.22294145807728094,-0.7785774844791081]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[0.04117692731188072,-2.2704497718536283,0.71338606911949],"aabb_xy":[[0.0036769268145224673,-2.2744184554017464],[0.07867692780923896,-2.2664810883055093]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.38355211901764974,-1.38562663055366,0.71338606911949],"aabb_xy":[[-0.46727434451773214,-1.4756266340883557],[-0.2998298935175672,-1.2956266270189638]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[0.6320010183026763,1.3291128567696493,0.71338606911949],"aabb_xy":[[0.5670010182683736,1.2824121800893218],[0.697001018336979,1.3758135334499764]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.6434685918425136,-2.0401160506873453,0.71338606911949],"aabb_xy":[[-0.6684685910081467,-2.047068296392702],[-0.6184685926768805,-2.0331638049819887]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.10211059793345367,-0.7624587525597608,0.71338606911949],"aabb_xy":[[-0.18211060009621613,-0.8424139361859043],[-0.02211059577069116,-0.6825035689336171]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[-0.3043737535177826,0.8245799821445061,0.71338606911949],"aabb_xy":[[-0.31161751956402794,0.7445799839409037],[-0.2971299874715373,0.9045799803481085]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[0.4874818435493542,-1.5188327230861027,0.71338606911949],"aabb_xy":[[0.43748873144016237,-1.5688327237602988],[0.5374749556585461,-1.4688327224119073]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.626173225737031,-2.16107009041285,0.71338606911949],"aabb_xy":[[-0.6611732256330499,-2.16944432592479],[-0.5911732258410122,-2.15269585490091]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.11654403938127977,-1.1794234182213081,0.71338606911949],"aabb_xy":[[-0.14012916284517463,-1.2444234204667397],[-0.09295891591738492,-1.1144234159758761]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[-0.5063561131621166,0.46162930497722066,0.71338606911949],"aabb_xy":[[-0.5142793934008649,0.4391293047392173],[-0.49843283292336826,0.484129305215224]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.06915072518008092,1.3509099748262656,0.71338606911949],"aabb_xy":[[-0.12678119406735172,1.2909099758995548],[-0.011520256292810045,1.410909973752976]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[-0.1613481509980882,-0.10183254694700139,0.71338606911949],"aabb_xy":[[-0.17802528699118367,-0.11853247092093165],[-0.14467101500499266,-0.0851326229730711]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.408392407098814,1.3834064076100132,0.71338606911949],"aabb_xy":[[-0.4128230364536542,1.3779580358753307],[-0.40396177774397385,1.3888547793446957]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[0.643817305263878,-2.4175766880252008,0.71338606911949],"aabb_xy":[[0.6375052057275397,-2.4233436272784195],[0.6501294048002164,-2.411809748771982]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[0.5057589694077773,-1.9036546165900563,0.71338606911949],"aabb_xy":[[0.48386922181883657,-1.9936546138793054],[0.5276487169967181,-1.8136546193008072]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.6473861144343376,-1.7641293327349878,0.71338606911949],"aabb_xy":[[-0.6510893757634765,-1.767831351043706],[-0.6436828531051987,-1.76042731442627]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[-0.649228748057587,-2.2442004506853106,0.71338606911949],"aabb_xy":[[-0.6867287495732187,-2.2554272237014557],[-0.6117287465419553,-2.2329736776691655]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[-0.08016692859719554,1.1086256579339446,0.71338606911949],"aabb_xy":[[-0.1601669260007889,1.0286330867357616],[-0.0001669311936021017,1.1886182291321272]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_28","position":[0.15943135785969964,-2.4618603807897,0.71338606911949],"aabb_xy":[[0.13693135804579726,-2.4663349971601805],[0.18193135767360202,-2.4573857644192194]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_29","position":[0.5839342416110096,-2.121808978984298,0.71338606911949],"aabb_xy":[[0.5593880259882589,-2.1520578755333353],[0.6084804572337603,-2.091560082435261]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_30","position":[-0.21663898523339692,-1.2626008198273924,0.71338606911949],"aabb_xy":[[-0.24660654214322258,-1.292600820125278],[-0.18667142832357125,-1.2326008195295066]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_31","position":[0.2975161691438182,-0.6416178188454087,0.71338606911949],"aabb_xy":[[0.2335161669234111,-0.685990902970697],[0.36151617136422515,-0.5972447347201204]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_32","position":[0.0816140132067309,0.7311187017841956,0.71338606911949],"aabb_xy":[[0.0016140162436917155,0.6540430601404221],[0.16161401016977006,0.808194343427969]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627116025767645,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4675.png","name":"4675"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4675.png","name":"4675"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6551.png","name":"6551"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4712.png","name":"4712"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5563.png","name":"5563"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":824.8972267676414,"rotation_z_degrees":312.2936326874629,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01926488247290272,-0.015415895990190265,0.005206988527704272]},{"name":"camera_2","offset_m":[0.004747255120657989,0.00958180874014496,-0.007539555899397895]},{"name":"camera_3","offset_m":[0.016148350613773784,0.003225236537511375,0.01873452942440994]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00023837062368296108,-6.143372551721711e-05,5.6995720152416655e-06],"end_effector_yaw_offset_degrees":0.5889450118466133},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000658467620157943,0.0004967579654834224,0.0012878889209544707],"end_effector_yaw_offset_degrees":0.9859852250300576},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009094300169680146,-0.0005976209648912479,0.0003286690096012887],"end_effector_yaw_offset_degrees":-0.08312064277741738}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031043903469303,-0.004803737214539391],"position_m":[0.2067043903469303,-0.05060373721453939,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012578008044259793,0.0039194897363268215],"position_m":[0.23354219919557404,-0.35968051026367315,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020502284636093873,-0.003931476596113184],"position_m":[0.16724977153639062,0.22616852340388682,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013060234911105896,-0.0005498700162091356],"position_m":[0.3324939765088894,0.11715012998379086,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fa0a9336b1e5a5c11e4ae840fb423f17b6ba1b1141bb287412fa8c427335191f","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4675/tex_ceiling_textures_5563/tex_floor_textures_3943/tex_table_textures_6551/tex_wall_textures_4712","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1502169365523929833,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1502169365523929833,"visual_seed":1502169365523929833,"scene_id":"lab_003","finished_at":"2026-09-04T09:17:11"}
+{"episode_id":"ep_000066","started_at":"2026-09-04T09:17:14","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[0.5580816674985387,1.0584112397266936,0.71338606911949],"aabb_xy":[[0.5531256473136577,1.0359112395245722],[0.56303768768342,1.0809112399288154]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[-0.4375671563016185,-0.09031948761380315,0.71338606911949],"aabb_xy":[[-0.44406879280962314,-0.10008730964011295],[-0.4310655197936139,-0.0805516655874934]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[0.5940776228910294,-0.5773288529503837,0.71338606911949],"aabb_xy":[[0.5590776215395475,-0.5976885889072044],[0.629077624242511,-0.5569691169935628]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[0.7009580284026578,1.2918069207421357,0.71338606911949],"aabb_xy":[[0.6838559504442895,1.274700115210866],[0.7180601063610258,1.3089137262734054]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[0.13415279240427525,-0.8376515088861414,0.71338606911949],"aabb_xy":[[0.04915279398685202,-0.9225258043484263],[0.21915279082169847,-0.7527772134238564]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[-0.19627442467452771,-1.238966215968974,0.71338606911949],"aabb_xy":[[-0.20430069530515374,-1.2477177109463267],[-0.18824815404390174,-1.2302147209916214]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[-0.20650036068466587,-0.9126176613959411,0.71338606911949],"aabb_xy":[[-0.25650036026100065,-0.9625982403480472],[-0.15650036110833118,-0.8626370824438353]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.03054957290898186,-2.141952624500725,0.71338606911949],"aabb_xy":[[-0.04030556241815574,-2.1517151585599597],[-0.020793583399807962,-2.1321900904414908]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[-0.06873536545607584,-2.458045438393889,0.71338606911949],"aabb_xy":[[-0.11873536681696306,-2.508023342969304],[-0.018735364095188622,-2.408067533818473]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.47365951045000565,-1.7374388560343323,0.71338606911949],"aabb_xy":[[-0.49615951046015394,-1.7515350756739356],[-0.45115951043985736,-1.723342636394729]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[-0.2927656043533516,1.2539417983716206,0.71338606911949],"aabb_xy":[[-0.3206106411339587,1.223157299633309],[-0.26492056757274446,1.2847262971099325]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.4619626178007878,0.6923128580026963,0.71338606911949],"aabb_xy":[[-0.4745894050879841,0.6827667843011234],[-0.4493358305135914,0.7018589317042692]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[-0.3632847512241307,-0.2015333157385455,0.71338606911949],"aabb_xy":[[-0.4132795841520723,-0.25153331463378903],[-0.3132899182961891,-0.15153331684330199]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.4290887563945094,0.630972865295512,0.71338606911949],"aabb_xy":[[0.36908875553369647,0.5795464352890254],[0.4890887572553221,0.6823992953019982]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[0.5485518467828518,0.815297134151876,0.71338606911949],"aabb_xy":[[0.5376460706952891,0.7352971377530468],[0.5594576228704146,0.8952971305507051]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[-0.1297030232056644,0.4274625443134803,0.71338606911949],"aabb_xy":[[-0.17970302486715914,0.37746410205777753],[-0.07970302154416962,0.47746098656918295]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[0.6700757399715158,-0.8988101014423313,0.71338606911949],"aabb_xy":[[0.6524974377825691,-0.9163845910164361],[0.6876540421604628,-0.8812356118682263]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[0.12209111813270013,-1.3125388354139003,0.71338606911949],"aabb_xy":[[0.1140976283374181,-1.320536967354376],[0.13008460792798215,-1.3045407034734249]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.5158250529247799,1.7260350666299078,0.71338606911949],"aabb_xy":[[0.5064780453424846,1.7117314444122635],[0.5251720605070751,1.7403386888475516]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[0.07143539017578382,-1.0335010322644347,0.71338606911949],"aabb_xy":[[0.04144372744191349,-1.063501031601235],[0.10142705290965415,-1.003501032927634]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.5151307106345395,1.4693160563047836,0.71338606911949],"aabb_xy":[[0.4808337996167988,1.435019170094842],[0.54942762165228,1.5036129425147247]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.04642125587387547,-0.7812750215430824,0.71338606911949],"aabb_xy":[[-0.06859378285052631,-0.8034506886992054],[-0.024248728897224625,-0.7590993543869591]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[0.6109270283019885,-2.1169915531762693,0.71338606911949],"aabb_xy":[[0.5637976493001527,-2.1809915542206704],[0.6580564073038241,-2.0529915521318665]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_23","position":[0.34407684728865684,-1.983933736766072,0.71338606911949],"aabb_xy":[[0.2800768481188869,-2.0307004238850346],[0.4080768464584268,-1.9371670496471098]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[0.6549911905033292,0.606500232444843,0.71338606911949],"aabb_xy":[[0.6394354210930641,0.5909497992004359],[0.6705469599135946,0.6220506656892503]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[-0.6622245807877603,1.4882450660538917,0.71338606911949],"aabb_xy":[[-0.6847245812998008,1.4657532076884934],[-0.6397245802757197,1.51073692441929]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_26","position":[0.4300802298971229,-1.6572566060864022,0.71338606911949],"aabb_xy":[[0.36608453250202627,-1.721256604387111],[0.49407592729221944,-1.5932566077856936]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[-0.3611857037743462,-0.4010984925104313,0.71338606911949],"aabb_xy":[[-0.4211857043703624,-0.4559109650556548],[-0.30118570317833004,-0.34628601996520786]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[0.5670889195591826,1.208585654386788,0.71338606911949],"aabb_xy":[[0.5582868642502099,1.2007743282318588],[0.5758909748681553,1.216396980541717]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_29","position":[0.08030190022491668,0.7440979571346351,0.71338606911949],"aabb_xy":[[0.01630189693520857,0.7007630381307174],[0.1443019035146248,0.7874328761385526]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_30","position":[-0.25804138956755895,-0.24877385271529828,0.71338606911949],"aabb_xy":[[-0.26615504424093606,-0.25687966916932736],[-0.24992773489418185,-0.24066803626126917]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_31","position":[0.17176309989614003,-2.188894523123535,0.71338606911949],"aabb_xy":[[0.09176310123925402,-2.203399382047798],[0.25176309855302603,-2.174389664199272]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_32","position":[-0.3199424413294919,-1.8221502483793381,0.71338606911949],"aabb_xy":[[-0.35371800052018487,-1.836188743592503],[-0.28616688213879893,-1.8081117531661732]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6689101425158056,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2871.png","name":"2871"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2871.png","name":"2871"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5468.png","name":"5468"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1703.png","name":"1703"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6958.png","name":"6958"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8229.png","name":"8229"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":557.3053006192541,"rotation_z_degrees":38.893563973445744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01810723800301459,-0.019536571613995548,-0.00020339642583802608]},{"name":"camera_2","offset_m":[-0.008331747023231313,-0.0021300508700532288,-0.0035955147212355723]},{"name":"camera_3","offset_m":[0.014422450846478831,0.015507511253396594,-0.006814242226624488]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001478370819912411,0.0008846889042217368,-0.0007884150371710698],"end_effector_yaw_offset_degrees":0.3345248170066837},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009577789814808461,-0.0011101846424118062,0.00017915610318298275],"end_effector_yaw_offset_degrees":0.9105334776815945},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008562140528344995,-0.0003576476326475938,-0.0011584149839434358],"end_effector_yaw_offset_degrees":0.5442705344551357}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004533505499992552,0.0028042895271141056],"position_m":[0.19906649450000746,-0.0429957104728859,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002123456241882625,-0.002253235957806341],"position_m":[0.23692345624188263,-0.36585323595780633,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008251411372872941,0.003756036999325943],"position_m":[0.1684748588627127,0.23385603699932594,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002998899566327674,0.0007955637743739573],"position_m":[0.33679889956632764,0.11849556377437395,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7869f207fc76c380f03f1cca8250a7bae8c48987418944cc8b6c3a5fb73e8761","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2871/tex_ceiling_textures_8229/tex_floor_textures_6958/tex_table_textures_5468/tex_wall_textures_1703","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5708883019910021200,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5708883019910021200,"visual_seed":5708883019910021200,"scene_id":"lab_003","finished_at":"2026-09-04T09:20:11"}
+{"episode_id":"ep_000067","started_at":"2026-09-04T09:20:14","dimensions":{"distractor":{"count":31,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.5428952490502741,1.2340367019238303,0.71338606911949],"aabb_xy":[[-0.5803952476258948,1.2213004062602721],[-0.5053952504746532,1.246772997587388]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[0.2611673648539734,1.192031313281559,0.71338606911949],"aabb_xy":[[0.25708920694692367,1.1879503330332954],[0.26524552276102314,1.196112293529822]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[-0.28967856543252746,-0.13367628260513476,0.71338606911949],"aabb_xy":[[-0.3346785668987563,-0.17867613946661542],[-0.2446785639662986,-0.08867642574365407]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.3284580057791801,-0.7338757874320629,0.71338606911949],"aabb_xy":[[-0.3534580049448132,-0.7408280331374195],[-0.303458006613547,-0.7269235417267064]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.5445986383002883,-2.2321666709701344,0.71338606911949],"aabb_xy":[[0.5134517194567052,-2.3021666696569416],[0.5757455571438714,-2.1621666722833273]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.1765830006274638,-0.6784841798127805,0.71338606911949],"aabb_xy":[[0.14618488952832018,-0.7088910818144499],[0.20698111172660735,-0.6480772778111109]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.2659875666991554,1.4090561713270335,0.71338606911949],"aabb_xy":[[-0.3559875703760735,1.347623764749929],[-0.17598756302223714,1.4704885779041377]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[0.557252487855304,-1.209459304304431,0.71338606911949],"aabb_xy":[[0.5072524868361687,-1.245925520042259],[0.6072524888744393,-1.1729930885666031]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[-0.31778332164655043,0.6891523615465505,0.71338606911949],"aabb_xy":[[-0.3677833220071165,0.6391723743369475],[-0.26778332128598437,0.7391323487561534]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[0.2784256900264016,0.8733143499152929,0.71338606911949],"aabb_xy":[[0.21442568673669346,0.8299794309113753],[0.34242569331610967,0.9166492689192105]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.0943749915684613,-0.9680544271916094,0.71338606911949],"aabb_xy":[[-0.11765683376659263,-1.0530544284888372],[-0.07109314937032994,-0.8830544258943812]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[0.6107480362653608,-1.4428161944324562,0.71338606911949],"aabb_xy":[[0.573248035973186,-1.44685766983306],[0.6482480365575356,-1.438774719031853]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.48308099750728173,-0.36839672697749304,0.71338606911949],"aabb_xy":[[-0.5470809989152723,-0.42018567850141775],[-0.419080996099291,-0.31660777545356833]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[0.5162751356208755,1.3056101745237734,0.71338606911949],"aabb_xy":[[0.4818127882227335,1.2711162921259505],[0.550737483019017,1.3401040569215958]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[0.4150296222706309,-1.1639022329225437,0.71338606911949],"aabb_xy":[[0.3825679213887033,-1.194035065037446],[0.44749132315255824,-1.1337694008076409]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[-0.17460403127678992,0.9035587000300178,0.71338606911949],"aabb_xy":[[-0.21109985190406863,0.86707475760326],[-0.13810821064951115,0.9400426424567752]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.5049560448607089,-0.5340364048561805,0.71338606911949],"aabb_xy":[[-0.5271285718373596,-0.5562120720123037],[-0.48278351788405793,-0.5118607377000574]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.4531202883847579,-1.7711760706223534,0.71338606911949],"aabb_xy":[[-0.461163648310713,-1.8561760717177196],[-0.44507692845880265,-1.6861760695269867]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[0.16707749045375797,-2.197174182104103,0.71338606911949],"aabb_xy":[[0.15886294533807394,-2.2058507724017438],[0.1752920355694419,-2.188497591806461]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.5242614237271038,0.5179658096265602,0.71338606911949],"aabb_xy":[[-0.5882614254051012,0.4694484181472459],[-0.4602614220491065,0.5664832011058744]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[0.05212612034485731,-1.22363187744359,0.71338606911949],"aabb_xy":[[0.029612428521400107,-1.2936318780445972],[0.0746398121683145,-1.1536318768425822]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[-0.17009632553874343,-1.6836235304574814,0.71338606911949],"aabb_xy":[[-0.2075963267235362,-1.6880417531535414],[-0.1325963243539506,-1.6792053077614204]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[0.2668413141947267,-1.3312955171448173,0.71338606911949],"aabb_xy":[[0.2559897079458511,-1.342154807872468],[0.2776929204436023,-1.320436226417166]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[0.225125148323001,-2.0905775127941246,0.71338606911949],"aabb_xy":[[0.1701296705023416,-2.145577514228031],[0.2801206261436604,-2.0355775113602173]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[-0.3754217427792432,-1.635869710185477,0.71338606911949],"aabb_xy":[[-0.3930973733678415,-1.6535499264648799],[-0.35774611219064484,-1.6181894939060744]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[-0.5264406418102108,-1.2717409876031085,0.71338606911949],"aabb_xy":[[-0.5382088286048684,-1.35674098750833],[-0.5146724550155534,-1.186740987697887]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[0.5720570046139071,-0.7349206155294354,0.71338606911949],"aabb_xy":[[0.5220781961035912,-0.7849206155351542],[0.622035813124223,-0.6849206155237166]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_27","position":[0.5043346716475239,0.33395182266252244,0.71338606911949],"aabb_xy":[[0.41933467295544924,0.3019659592676435],[0.5893346703395985,0.36593768605740123]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_28","position":[-0.4725488576989296,0.21092511281567017,0.71338606911949],"aabb_xy":[[-0.5265644539808295,0.14692510992341298],[-0.4185332614170295,0.2749251157079273]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_29","position":[0.43414709913531957,1.7052179770130844,0.71338606911949],"aabb_xy":[[0.42534504382634686,1.6974066508581553],[0.4429491544442923,1.7130293031680135]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_30","position":[-0.5209547625431968,1.3665800518343572,0.71338606911949],"aabb_xy":[[-0.5709280565464573,1.3165800512798094],[-0.4709814685399364,1.416580052388904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6684349664941177,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/238.png","name":"238"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/238.png","name":"238"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6445.png","name":"6445"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2017.png","name":"2017"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/398.png","name":"398"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3757.png","name":"3757"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":664.6187674628718,"rotation_z_degrees":347.2160166564233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017968891079871745,-0.013853639671612128,-0.005425882731777172]},{"name":"camera_2","offset_m":[0.012222015179459509,-0.010140479863487354,-0.009691097412040058]},{"name":"camera_3","offset_m":[-0.008490246156672945,0.008903813545204819,0.01037993661432006]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019870643958721504,0.0017283802739962092,0.0017014147030152537],"end_effector_yaw_offset_degrees":-0.9647178479771561},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000671292044998681,-0.0013776372283065682,-0.0015079985883730785],"end_effector_yaw_offset_degrees":-0.7179240831924718},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016464367941274273,-0.001518648129086662,-0.001357756013398058],"end_effector_yaw_offset_degrees":-0.3551808802359715}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019367889741933753,-0.0014605052437796353],"position_m":[0.2055367889741934,-0.04726050524377964,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004482160021773605,0.002260918594221087],"position_m":[0.2392821600217736,-0.3613390814057789,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00430174625004381,0.002390426520120074],"position_m":[0.1649982537499562,0.23249042652012009,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014916099096506708,2.5960777736427562e-05],"position_m":[0.3323083900903493,0.11772596077773642,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6894b73bd0bb4c6017a9a7ecd20ab746e20d5f3aea52f322c06f8162d7b8f556","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_238/tex_ceiling_textures_3757/tex_floor_textures_398/tex_table_textures_6445/tex_wall_textures_2017","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6805054803667581072,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6805054803667581072,"visual_seed":6805054803667581072,"scene_id":"lab_003","finished_at":"2026-09-04T09:22:54"}
+{"episode_id":"ep_000068","started_at":"2026-09-04T09:22:57","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.03868156092523456,1.5831390662293994,0.71338606911949],"aabb_xy":[[0.0018869278003282863,1.5462331911328169],[0.07547619405014083,1.6200449413259814]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[0.3733213913325526,-0.7438726810443155,0.71338606911949],"aabb_xy":[[0.30832139129824987,-0.7905733577246428],[0.43832139136685533,-0.6971720043639882]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[-0.4395004630787134,-1.575254274448076,0.71338606911949],"aabb_xy":[[-0.45556239053723097,-1.660254276260668],[-0.4234385356201957,-1.4902542726354844]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.5825052037060671,-0.9333097265594019,0.71338606911949],"aabb_xy":[[-0.6465052010084135,-0.9776761535272586],[-0.5185052064037207,-0.888943299591545]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.4943794747774002,1.4669207556474624,0.71338606911949],"aabb_xy":[[0.4767466391838726,1.4492978096318392],[0.5120123103709278,1.4845437016630851]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.15775980686252744,1.5190330649523713,0.71338606911949],"aabb_xy":[[0.12025980675693447,1.51221090309939],[0.19525980696812037,1.5258552268053522]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.07949275145518742,-1.6528343891450175,0.71338606911949],"aabb_xy":[[-0.14349275183272103,-1.7025796559958297],[-0.015492751077653785,-1.6030891222942052]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[-0.46207590257903736,1.4412593069037611,0.71338606911949],"aabb_xy":[[-0.4970759017718556,1.4302922609060982],[-0.4270759033862191,1.4522263529014232]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.4707593274199886,1.2972582639099484,0.71338606911949],"aabb_xy":[[0.40575932886291577,1.2675057304960657],[0.5357593259770614,1.327010797323831]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[-0.20073133894965223,0.5720112436114118,0.71338606911949],"aabb_xy":[[-0.25070463295291257,0.5220112430568643],[-0.1507580449463917,0.622011244165959]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[-0.37179896137865215,-0.2582223884315402,0.71338606911949],"aabb_xy":[[-0.40679896273013383,-0.27858212438836105],[-0.33679896002717036,-0.2378626524747194]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[-0.645903835193227,1.0909033440373959,0.71338606911949],"aabb_xy":[[-0.6783655360751544,1.060770511922493],[-0.6134421343112995,1.1210361761522982]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[0.3394692780715105,-2.0005775306945814,0.71338606911949],"aabb_xy":[[0.3322255120252652,-2.080577528898184],[0.34671304411775583,-1.920577532490979]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.04105191657660168,-0.35072404008703284,0.71338606911949],"aabb_xy":[[-0.05892102433105717,-0.36455694806424377],[-0.023182808822146184,-0.3368911321098219]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.06369285938219382,-2.0824507254185405,0.71338606911949],"aabb_xy":[[-0.0683279745344272,-2.086318060495689],[-0.05905774422996043,-2.0785833903413913]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[-0.3060280407708942,-0.8069536101527159,0.71338606911949],"aabb_xy":[[-0.3700280421788848,-0.8587425616766406],[-0.24202803936290349,-0.7551646586287912]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[0.06336125867099962,-1.7427802995440071,0.71338606911949],"aabb_xy":[[0.0408964886995945,-1.7652803004228677],[0.08582602864240474,-1.7202802986651466]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[0.6286213744844065,-1.8435060504168659,0.71338606911949],"aabb_xy":[[0.5951811992883868,-1.876949676247796],[0.662061549680426,-1.8100624245859358]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[-0.549057743728375,-0.18586453881534215,0.71338606911949],"aabb_xy":[[-0.6290577423156943,-0.26518014075350305],[-0.4690577451410555,-0.10654893687718127]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[0.06397589974334839,-1.651835982406972,0.71338606911949],"aabb_xy":[[0.05766380020700995,-1.657602921660191],[0.07028799927968682,-1.6460690431537532]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[0.34490408908522374,-2.172729949129823,0.71338606911949],"aabb_xy":[[0.295087309620389,-2.222729947614126],[0.3947208685500585,-2.1227299506455193]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.1078750707368098,-0.39275397477369856,0.71338606911949],"aabb_xy":[[-0.11579835097555813,-0.4152539750117019],[-0.09995179049806147,-0.3702539745356952]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[0.39320425096855494,-1.2390308503112326,0.71338606911949],"aabb_xy":[[0.3482042495023261,-1.2840307071727135],[0.43820425243478384,-1.1940309934497522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664323750448976,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6926.png","name":"6926"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6926.png","name":"6926"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9724.png","name":"9724"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2891.png","name":"2891"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7079.png","name":"7079"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7572.png","name":"7572"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":555.5612093486048,"rotation_z_degrees":66.60378907655937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015114712821011875,-0.00731948602991158,0.011363965442017395]},{"name":"camera_2","offset_m":[-0.0002907624734995867,-0.005702772287771572,0.016011561873765703]},{"name":"camera_3","offset_m":[0.003048591695573019,-0.0023742642570421663,-0.0074449811700810775]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018393195297100333,-5.3990275220721935e-05,0.0007926179579950772],"end_effector_yaw_offset_degrees":-0.6565987313048569},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014704955686052844,0.00012924597574090783,-9.559208039414862e-05],"end_effector_yaw_offset_degrees":-0.7274466668426396},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006959486421292392,0.001489589214293255,0.0005997248205660889],"end_effector_yaw_offset_degrees":0.6969047584734278}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004828341398348676,-0.003253240822425594],"position_m":[0.20842834139834868,-0.0490532408224256,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049047092925355055,-0.0045790339637293434],"position_m":[0.2298952907074645,-0.3681790339637293,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003131050526918866,-0.0014096309734262023],"position_m":[0.16616894947308114,0.2286903690265738,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010333947997151838,0.0006734579266230601],"position_m":[0.3348333947997152,0.11837345792662306,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cebe71c33fcfdc882d01a4067909b8b6e501e71e3cacd697829b6b120763fb9e","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6926/tex_ceiling_textures_7572/tex_floor_textures_7079/tex_table_textures_9724/tex_wall_textures_2891","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8180870819680017847,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8180870819680017847,"visual_seed":8180870819680017847,"scene_id":"lab_003","finished_at":"2026-09-04T09:25:44"}
+{"episode_id":"ep_000069","started_at":"2026-09-04T09:25:48","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[0.5637582955543907,-1.799196554980344,0.71338606911949],"aabb_xy":[[0.5287582963615725,-1.8101636009780064],[0.598758294747209,-1.788229508982681]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[0.23844926538450784,-0.9791834792958516,0.71338606911949],"aabb_xy":[[0.2335499730779443,-1.0068603985984201],[0.2433485576910713,-0.9515065599932826]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.16183857215351205,-1.5281895769248133,0.71338606911949],"aabb_xy":[[-0.17933857143159893,-1.5455276769911592],[-0.14433857287542518,-1.5108514768584673]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[0.6167642560650546,-1.20198069845965,0.71338606911949],"aabb_xy":[[0.6133235798249974,-1.2058421314340144],[0.6202049323051118,-1.1981192654852855]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.5015106889722352,0.7658154390231733,0.71338606911949],"aabb_xy":[[-0.5390106893204629,0.7540240434420896],[-0.4640106886240074,0.7776068346042567]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[0.30457231335742396,0.5121910023783247,0.71338606911949],"aabb_xy":[[0.28568792958891376,0.49330507759797193],[0.32345669712593417,0.5310769271586775]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.39999347136749774,-0.38000636553386746,0.71338606911949],"aabb_xy":[[0.3695092212404676,-0.4300063653153634],[0.4304777214945279,-0.3300063657523715]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[0.6352696073127664,0.927403825220515,0.71338606911949],"aabb_xy":[[0.5702696063556391,0.8754556132868094],[0.7002696082698935,0.9793520371542206]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.22825751537139405,-1.4467035907408718,0.71338606911949],"aabb_xy":[[0.20914520801341516,-1.4658383696181139],[0.24736982272937288,-1.4275688118636298]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[0.48161178415616845,-2.2366041683443743,0.71338606911949],"aabb_xy":[[0.46470105171982656,-2.2500763739369884],[0.4985225165925101,-2.223131962751759]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.32690950478273545,-2.2979775760563466,0.71338606911949],"aabb_xy":[[-0.3384784855296721,-2.3229775761732787],[-0.31534052403579893,-2.2729775759394153]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.13422025033313256,1.63751936147079,0.71338606911949],"aabb_xy":[[-0.15805646797373765,1.5475193606623037],[-0.11038403269252753,1.7275193622792766]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.5776709110119858,-0.9318805542559225,0.71338606911949],"aabb_xy":[[0.5226971889756529,-0.9868805538201557],[0.6326446330483186,-0.8768805546916894]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[0.07600514385523172,1.1507606648570436,0.71338606911949],"aabb_xy":[[0.053505144331524306,1.1282647174064226],[0.0985051433789391,1.1732566123076642]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.3707184025297922,-1.9811231203645199,0.71338606911949],"aabb_xy":[[-0.38386964850108163,-2.006123120121207],[-0.35756715655850285,-1.9561231206078338]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[0.6556560474918502,-0.45063736798784415,0.71338606911949],"aabb_xy":[[0.6374502238306027,-0.46166276856983585],[0.673861871153098,-0.43961196740585257]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[0.4334549791892113,-1.0133873370393702,0.71338606911949],"aabb_xy":[[0.42475701689849604,-1.025512311346845],[0.4421529414799266,-1.0012623627318955]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[0.03491813595047699,0.7263370517455829,0.71338606911949],"aabb_xy":[[0.026116080641504277,0.7185257255906536],[0.043720191259449696,0.7341483779005118]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[0.6693717759940474,-2.160021666633888,0.71338606911949],"aabb_xy":[[0.6468580841705902,-2.230021667234895],[0.6918854678175046,-2.09002166603288]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[0.6093829588709454,-1.9599599777116894,0.71338606911949],"aabb_xy":[[0.5843829593192069,-1.9701024615768241],[0.6343829584226839,-1.9498174938465547]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[-0.48173755036445254,0.8829666092716106,0.71338606911949],"aabb_xy":[[-0.5457375517724432,0.8311776577476858],[-0.4177375489564619,0.9347555607955352]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[-0.5074202887032514,-1.7038027706346164,0.71338606911949],"aabb_xy":[[-0.5299202885171538,-1.7082773870050971],[-0.484920288889349,-1.6993281542641356]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_22","position":[-0.46930607432794924,-1.0289105038604538,0.71338606911949],"aabb_xy":[[-0.5333060775465872,-1.075633615759462],[-0.40530607110931144,-0.9821873919614452]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[0.41451052222987594,-1.1997365052192965,0.71338606911949],"aabb_xy":[[0.3505105201801439,-1.2398309883086045],[0.4785105242796079,-1.1596420221299886]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[-0.6191857811682162,1.2195823010624527,0.71338606911949],"aabb_xy":[[-0.6264680975448796,1.1295822974529433],[-0.6119034647915523,1.3095823046719612]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6649913156891327,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1855.png","name":"1855"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1855.png","name":"1855"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4843.png","name":"4843"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2898.png","name":"2898"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6612.png","name":"6612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9256.png","name":"9256"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":625.3316236333088,"rotation_z_degrees":35.50033521654248,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013119223229993567,0.002489187454898789,0.018572793539004036]},{"name":"camera_2","offset_m":[-0.008309986185706544,-0.015073747749459167,0.004248382319179473]},{"name":"camera_3","offset_m":[0.0008379515661463971,-0.009533625505386346,-0.0062301718389496195]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001687752663150341,0.0016046677123020743,0.00027049761339340006],"end_effector_yaw_offset_degrees":0.41583096303126355},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007063456091282662,-0.0014954267482200105,0.0011218169181365328],"end_effector_yaw_offset_degrees":0.13929813020526205},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006080603103971042,-0.0006627950901887526,-0.001713945209436317],"end_effector_yaw_offset_degrees":0.7058017659200109}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003822113636925124,-0.002732093875529069],"position_m":[0.1997778863630749,-0.04853209387552907,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00390746839956076,-0.004284965076715924],"position_m":[0.23089253160043924,-0.3678849650767159,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00034439236079974577,0.001157416246778632],"position_m":[0.16964439236079976,0.23125741624677862,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032318239399875093,0.00038765205485471587],"position_m":[0.3305681760600125,0.11808765205485472,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"48ada866c8f18c6f501cebbe556582febce0a7e41dc377bd39706c97dd6742ec","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1855/tex_ceiling_textures_9256/tex_floor_textures_6612/tex_table_textures_4843/tex_wall_textures_2898","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5959767689559331473,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5959767689559331473,"visual_seed":5959767689559331473,"scene_id":"lab_003","finished_at":"2026-09-04T09:28:44"}
+{"episode_id":"ep_000070","started_at":"2026-09-04T09:28:49","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.2404886958786488,-2.088360310820292,0.71338606911949],"aabb_xy":[[-0.2637705380767801,-2.17336031211752],[-0.21720685368051745,-2.003360309523064]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[0.42995451033709475,1.3504590508250511,0.71338606911949],"aabb_xy":[[0.39245451016522276,1.317758315442144],[0.46745451050896664,1.3831597862079583]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[-0.05059705185441743,0.5258262436126007,0.71338606911949],"aabb_xy":[[-0.08792832837966005,0.49117318881774835],[-0.013265775329174806,0.5604792984074529]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.2978234932945742,0.809013967232374,0.71338606911949],"aabb_xy":[[-0.32779105020439986,0.7790139669344883],[-0.2678559363847485,0.8390139675302598]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.43586550729165074,1.49847113654446,0.71338606911949],"aabb_xy":[[-0.4998655079951202,1.452452754071539],[-0.37186550658818146,1.5444895190173813]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.09435268202330571,-2.0108873040036817,0.71338606911949],"aabb_xy":[[0.07918051274167238,-2.0260561609318852],[0.10952485130493907,-1.9957184470754783]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[-0.24604561936699698,0.21159079484647947,0.71338606911949],"aabb_xy":[[-0.26354561864508386,0.1942526947801335],[-0.2285456200889101,0.2289288949128254]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[0.6580662927010652,-2.454527104392272,0.71338606911949],"aabb_xy":[[0.651971664812947,-2.463096498943941],[0.6641609205891836,-2.4459577098406036]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.5620096215798981,-2.213931061651993,0.71338606911949],"aabb_xy":[[-0.5775653909901634,-2.2294814948964006],[-0.5464538521696328,-2.198380628407586]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[0.4063927664642133,-2.331683795335512,0.71338606911949],"aabb_xy":[[0.3885236587097578,-2.345516703312723],[0.4242618742186688,-2.317850887358301]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.4218860489649962,-2.357904954498511,0.71338606911949],"aabb_xy":[[-0.4468860482369585,-2.3742503180946732],[-0.3968860496930339,-2.3415595909023486]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[0.2346434496417864,0.686529493330327,0.71338606911949],"aabb_xy":[[0.19714344914442813,0.6825608097822085],[0.27214345013914465,0.6904981768784453]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[0.02584271268382876,1.7433054047394863,0.71338606911949],"aabb_xy":[[0.0205051370178242,1.7183054038103465],[0.031180288349833336,1.768305405668626]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.10605599385273135,0.9035891265551781,0.71338606911949],"aabb_xy":[[-0.12355599409778072,0.8860893387156112],[-0.08855599360768195,0.9210889143947449]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.5495871295500522,1.739443259405784,0.71338606911949],"aabb_xy":[[-0.5908916726137882,1.675443259837667],[-0.5082825864863162,1.8034432589739011]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[-0.6573134525493995,-2.1326819196059805,0.71338606911949],"aabb_xy":[[-0.6798125882756265,-2.1551819203842433],[-0.6348143168231726,-2.1101819188277178]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[0.46206239812292793,-1.253458483775464,0.71338606911949],"aabb_xy":[[0.45070066346964177,-1.2648269501817522],[0.4734241327762141,-1.242090017369176]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[0.03169052661092142,-2.1599982513760114,0.71338606911949],"aabb_xy":[[0.026358011956308436,-2.1653225796212476],[0.03702304126553441,-2.154673923130776]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.5205728136811554,-2.006187401988619,0.71338606911949],"aabb_xy":[[0.4967365960405504,-2.0961874027971055],[0.5444090313217606,-1.9161874011801325]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.4535385204887446,-1.0996984567496126,0.71338606911949],"aabb_xy":[[-0.4711168226776915,-1.1172729463237174],[-0.4359602182997978,-1.0821239671755079]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.3421728187845401,-1.084338654881149,0.71338606911949],"aabb_xy":[[0.27817281549483197,-1.1276735738850667],[0.4061728220742482,-1.0410037358772315]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[-0.06779871716543828,-1.7675739850756158,0.71338606911949],"aabb_xy":[[-0.07695859610931487,-1.7741052031191529],[-0.05863883822156167,-1.7610427670320787]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.04945685065188288,0.9773988386983761,0.71338606911949],"aabb_xy":[[0.024943226554877018,0.9531342453963396],[0.07397047474888874,1.0016634320004125]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.4104717531180834,-1.2897000813258592,0.71338606911949],"aabb_xy":[[-0.4255740545791014,-1.304801602956921],[-0.3953694516570652,-1.274598559694797]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[0.5216520758358527,-0.6036654817911831,0.71338606911949],"aabb_xy":[[0.4866520744843709,-0.6240252177480039],[0.5566520771873343,-0.5833057458343622]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_25","position":[-0.6514263290993404,0.6062878161592291,0.71338606911949],"aabb_xy":[[-0.6584677800500881,0.5992610644214346],[-0.6443848781485929,0.6133145678970237]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_26","position":[-0.3431318094848028,-0.9733059946534888,0.71338606911949],"aabb_xy":[[-0.4071318067871492,-1.0176724216213455],[-0.2791318121824564,-0.9289395676856319]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_27","position":[0.4942263507457594,1.1343081568723048,0.71338606911949],"aabb_xy":[[0.47655072015716105,1.1166279405929018],[0.5119019813343577,1.1519883731517073]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[0.6721977279668285,1.3380632479201342,0.71338606911949],"aabb_xy":[[0.6221977263053335,1.2880648056644315],[0.7221977296283231,1.388061690175837]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[-0.08833626554614804,-2.1259884248219447,0.71338606911949],"aabb_xy":[[-0.10010445234080557,-2.2109884247271667],[-0.07656807875149052,-2.0409884249167236]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_30","position":[-0.0837015991729897,-1.4054126485441105,0.71338606911949],"aabb_xy":[[-0.09563433353481776,-1.41779480135197],[-0.07176886481116163,-1.3930304957362512]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662929649491255,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3959.png","name":"3959"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3959.png","name":"3959"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7571.png","name":"7571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1680.png","name":"1680"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3913.png","name":"3913"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5991.png","name":"5991"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":718.9275367363574,"rotation_z_degrees":315.8987551880075,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0070287532213617575,-0.01204903626673839,-0.0156756060197234]},{"name":"camera_2","offset_m":[0.013405125076239772,0.017128163221256053,0.003660921781799383]},{"name":"camera_3","offset_m":[-0.017076256897735613,-0.012237029806684462,-0.014119611405415986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00020450870526408644,0.0007026771377864642,0.000505358164124],"end_effector_yaw_offset_degrees":-0.9487350206448248},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001543069611244706,-0.00033153393331812565,-0.0012215387535878986],"end_effector_yaw_offset_degrees":0.9687929636391395},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019203193996550497,0.0010471575688966827,0.00017946837831051303],"end_effector_yaw_offset_degrees":-0.153145915688655}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004341057201927445,0.0020574570939871683],"position_m":[0.20794105720192746,-0.04374254290601283,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018551065039569626,0.0025962982752511824],"position_m":[0.23294489349604305,-0.36100370172474877,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011229385924402735,0.004686389337181869],"position_m":[0.16817706140755972,0.23478638933718188,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016372325252339104,-0.0037864012506379874],"position_m":[0.3321627674747661,0.11391359874936201,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"34c382f48bacc3aa116ea9682aa35ffd79d60970d142232375b3c0b002d279c9","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3959/tex_ceiling_textures_5991/tex_floor_textures_3913/tex_table_textures_7571/tex_wall_textures_1680","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4416251532409194928,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4416251532409194928,"visual_seed":4416251532409194928,"scene_id":"lab_003","finished_at":"2026-09-04T09:31:33"}
+{"episode_id":"ep_000071","started_at":"2026-09-04T09:31:36","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.33660662955948495,-0.3563584673322717,0.71338606911949],"aabb_xy":[[-0.3739379060847276,-0.391011522127124],[-0.2992753530342424,-0.32170541253741936]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.5373853540202471,-0.3836978809399225,0.71338606911949],"aabb_xy":[[-0.5423413742051284,-0.40619788114204425],[-0.5324293338353661,-0.36119788073780096]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.32205632766272685,1.7235791590549305,0.71338606911949],"aabb_xy":[[-0.4120563313396449,1.6621467524778257],[-0.2320563239858086,1.7850115656320344]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.1674049256292932,0.5986405670007096,0.71338606911949],"aabb_xy":[[-0.17618615277652946,0.5898608197121795],[-0.158623698482057,0.6074203142892398]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.6263817364486046,-0.3199226882146111,0.71338606911949],"aabb_xy":[[0.5763817354980718,-0.35147183521813247],[0.6763817373991374,-0.28837354121108966]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[0.027566891032231977,-2.2965403427610216,0.71338606911949],"aabb_xy":[[-0.022417344675945246,-2.346540341574517],[0.0775511267404092,-2.246540343947526]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[-0.49326045736184176,0.21793908378579419,0.71338606911949],"aabb_xy":[[-0.578260455779265,0.1330647883235092],[-0.4082604589444185,0.30281337924807916]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.13058553080602042,1.2040893809608209,0.71338606911949],"aabb_xy":[[-0.16558552907614033,1.1970152532658327],[-0.09558553253590052,1.211163508655809]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[0.4553789730001474,1.2525102829695092,0.71338606911949],"aabb_xy":[[0.4003867223646365,1.1975102812261966],[0.5103712236356583,1.3075102847128222]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.5094486833498653,-1.865101386856113,0.71338606911949],"aabb_xy":[[0.47830176450628215,-1.9351013855429198],[0.5405956021934484,-1.7951013881693054]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[0.45608323824730146,0.08245557233893619,0.71338606911949],"aabb_xy":[[0.4467896200101508,0.044955573850802275],[0.465376856484452,0.11995557082707008]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[-0.5111071359786349,-2.4263903559492874,0.71338606911949],"aabb_xy":[[-0.5394368459271752,-2.4308510981430045],[-0.48277742603009477,-2.4219296137555704]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[0.6587033265453561,1.5558568801043369,0.71338606911949],"aabb_xy":[[0.6417925941090143,1.542384674511722],[0.6756140589816979,1.5693290856969513]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[-0.0939702616236412,-0.5554042325704551,0.71338606911949],"aabb_xy":[[-0.10167345229771824,-0.563113603269193],[-0.08626707094956415,-0.547694861871717]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.4459897006890288,-1.8515325386454664,0.71338606911949],"aabb_xy":[[-0.4506248158412621,-1.8553998737226147],[-0.4413545855367953,-1.8476652035683176]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[0.5223007542674003,1.088006266513697,0.71338606911949],"aabb_xy":[[0.4848007541618074,1.0811841046607156],[0.5598007543729933,1.0948284283666778]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[0.05953017376510794,0.684593266650392,0.71338606911949],"aabb_xy":[[0.04759743940327987,0.6722111138425326],[0.07146290812693601,0.6969754194582514]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.47595672832209024,1.331398229150619,0.71338606911949],"aabb_xy":[[-0.4888286318230304,1.2513982287367826],[-0.4630848248211501,1.411398229564455]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[-0.6218939197777021,-2.4904024102019595,0.71338606911949],"aabb_xy":[[-0.6289353707284497,-2.497429161939754],[-0.6148524688269545,-2.483375658464165]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.4849022398606814,-0.5321901607480832,0.71338606911949],"aabb_xy":[[-0.5224022382840818,-0.5453543747159137],[-0.447402241437281,-0.5190259467802525]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.05667726893761016,-1.349887641181562,0.71338606911949],"aabb_xy":[[-0.12067726823177838,-1.4138737815504159],[0.00732273035655806,-1.2859015008127075]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[0.3929566258035839,-0.9984761799591322,0.71338606911949],"aabb_xy":[[0.3554566254553561,-1.0102675755402157],[0.4304566261518116,-0.9866847843780485]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.5019174212983897,-1.7813553165357676,0.71338606911949],"aabb_xy":[[-0.5197865290528452,-1.7951882245129784],[-0.4840483135439342,-1.7675224085585568]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[0.5343707815778254,-0.8470624390841612,0.71338606911949],"aabb_xy":[[0.520924254943782,-0.8605322907372526],[0.5478173082118687,-0.8335925874310701]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[-0.22486743769633966,-1.7450167203303462,0.71338606911949],"aabb_xy":[[-0.24736657342256663,-1.767516721108609],[-0.20236830197011269,-1.722516719552083]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[0.20285646237324384,0.7486551651357369,0.71338606911949],"aabb_xy":[[0.17785646244072592,0.7417724969148137],[0.2278564623057617,0.7555378333566604]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[0.29764234613657403,-1.7121556065553225,0.71338606911949],"aabb_xy":[[0.2376423462900073,-1.7689742287483612],[0.3576423459831409,-1.6553369843622838]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.667450602415702,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8501.png","name":"8501"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8501.png","name":"8501"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7333.png","name":"7333"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5730.png","name":"5730"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7466.png","name":"7466"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3623.png","name":"3623"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":733.6953662637532,"rotation_z_degrees":164.03757976283327,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009710858323021944,0.008763580625009239,9.519063044678353e-05]},{"name":"camera_2","offset_m":[0.006294173250303722,0.013748801776555072,-0.0040089596926304386]},{"name":"camera_3","offset_m":[-0.01630185972599762,0.01975629660434731,0.003914003456390428]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010188673534074569,0.0015115035769837043,0.0014302531552319551],"end_effector_yaw_offset_degrees":-0.9251985905632112},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016739537146640876,0.0016638769245059266,-0.0015800345259927675],"end_effector_yaw_offset_degrees":-0.06069668320821631},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006733001958840355,0.000810805236360615,0.0015721685919392373],"end_effector_yaw_offset_degrees":0.007779780507091827}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001223434248536138,-0.0009553113151003732],"position_m":[0.20237656575146387,-0.04675531131510037,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013004903272626424,-0.0048034369202481445],"position_m":[0.23349950967273736,-0.36840343692024813,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015876964444414858,0.0013803626213563479],"position_m":[0.1708876964444415,0.23148036262135635,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002648998448731862,-0.002898030502855673],"position_m":[0.33644899844873183,0.11480196949714433,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a63de12fdc45dcd8b183b076e43f55c8b4e05eb91a41d0689dd0173f7f19d7b8","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8501/tex_ceiling_textures_3623/tex_floor_textures_7466/tex_table_textures_7333/tex_wall_textures_5730","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3670702398734567033,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3670702398734567033,"visual_seed":3670702398734567033,"scene_id":"lab_003","finished_at":"2026-09-04T09:34:26"}
+{"episode_id":"ep_000072","started_at":"2026-09-04T09:34:30","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[0.11876041752758082,-0.625653286268629,0.71338606911949],"aabb_xy":[[0.11462456119488064,-0.663153285712986],[0.12289627386028103,-0.588153286824272]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.6433521412401626,-1.8789442243082135,0.71338606911949],"aabb_xy":[[0.6277963718298973,-1.894494657552621],[0.6589079106504279,-1.8633937910638065]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.130807949099067,-0.11875935307877761,0.71338606911949],"aabb_xy":[[-0.14056393860824087,-0.12852188713801202],[-0.1210519595898931,-0.10899681901954314]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[0.1850705252333461,-1.0370210737296333,0.71338606911949],"aabb_xy":[[0.09507052873247433,-1.0829327161480913],[0.2750705217342178,-0.9911094313111749]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.014902931875791503,0.6742579605714929,0.71338606911949],"aabb_xy":[[-0.0643833530897503,0.6102579626586411],[0.03457748933816729,0.7382579584843447]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.5739519437469772,-0.8806090436935141,0.71338606911949],"aabb_xy":[[-0.5833694183168401,-0.8900252208312331],[-0.5645344691771146,-0.8711928665557951]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.04305955735793732,1.7065610246790501,0.71338606911949],"aabb_xy":[[-0.04956119386594193,1.6967932026527404],[-0.036557920849932694,1.71632884670536]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[-0.6058021794101016,-2.071842597605618,0.71338606911949],"aabb_xy":[[-0.628302179653617,-2.08404723226539],[-0.5833021791665862,-2.059637962945846]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[0.21383076157258096,-1.5517422157480045,0.71338606911949],"aabb_xy":[[0.21039008533252376,-1.555603648722369],[0.2172714378126381,-1.54788078277364]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[-0.5207155095741773,1.3563754520742202,0.71338606911949],"aabb_xy":[[-0.5706943180844932,1.3063754520685014],[-0.47073670106386145,1.406375452079939]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.20308928274392068,1.4139884682159356,0.71338606911949],"aabb_xy":[[-0.23988391586882699,1.377082593119353],[-0.16629464961901444,1.4508943433125177]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[-0.444594338186561,0.28169476470100197,0.71338606911949],"aabb_xy":[[-0.5245943353461363,0.2701471637431849],[-0.36459434102698574,0.293242365658819]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[0.4034867932927093,1.6765797480952274,0.71338606911949],"aabb_xy":[[0.3684867941627536,1.670834527019563],[0.4384867924226649,1.6823249691708912]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.0021273202557455795,-1.97542058385651,0.71338606911949],"aabb_xy":[[-0.0058661695395364494,-1.9834187157969858],[0.010120810051027608,-1.9674224519160346]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.24133533418453024,-1.5749356955226623,0.71338606911949],"aabb_xy":[[-0.2756516113591482,-1.62493569549584],[-0.20701905700991227,-1.5249356955494846]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[0.42244987153760394,-0.5668188431009171,0.71338606911949],"aabb_xy":[[0.358449872367834,-0.6135855302198796],[0.4864498707073739,-0.5200521559819546]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.1660417159326093,-2.069502102873589,0.71338606911949],"aabb_xy":[[0.13358001505068182,-2.099634934988491],[0.19850341681453673,-2.0393692707586855]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.5740086179316986,-1.410575806411933,0.71338606911949],"aabb_xy":[[0.5631028418441358,-1.4905758028107619],[0.5849143940192613,-1.3305758100131035]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.22968074423098267,0.35297748744266455,0.71338606911949],"aabb_xy":[[-0.23837870652169801,0.3408525131351898],[-0.22098278194026744,0.3651024617501393]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[0.34413834315423775,-0.7528531219947061,0.71338606911949],"aabb_xy":[[0.2591383447368145,-0.8377274174569911],[0.429138341571661,-0.6679788265324211]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[0.627888719701065,1.6632078000425747,0.71338606911949],"aabb_xy":[[0.5780060228233689,1.6132078007963002],[0.6777714165787613,1.7132077992888497]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[0.40757447981921713,0.24709843323672143,0.71338606911949],"aabb_xy":[[0.39014376474021056,0.22982631857287059],[0.4250051948982236,0.2643705479005722]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[-0.14107544226165236,-0.9095270114682659,0.71338606911949],"aabb_xy":[[-0.1710671049955227,-0.9395270108050664],[-0.11108377952778203,-0.8795270121314653]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[-0.6319567674254647,-1.0968532435304184,0.71338606911949],"aabb_xy":[[-0.6623548785246082,-1.1272601455320876],[-0.601558656326321,-1.0664463415287486]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[0.33715720629220636,0.5989421208273384,0.71338606911949],"aabb_xy":[[0.27315720424247436,0.5588476377380305],[0.40115720834193835,0.6390366039166464]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_25","position":[-0.3171179412627215,1.3272119484800884,0.71338606911949],"aabb_xy":[[-0.35059710852376247,1.2937328351089814],[-0.2836387740016806,1.3606910618511954]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_26","position":[-0.038989903634324086,1.5691076779631818,0.71338606911949],"aabb_xy":[[-0.04779195894329679,1.5612963518082525],[-0.03018784832535137,1.5769190041181107]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661043024158659,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2875.png","name":"2875"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2875.png","name":"2875"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1244.png","name":"1244"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2337.png","name":"2337"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1204.png","name":"1204"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/95.png","name":"95"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":722.52918730689,"rotation_z_degrees":261.63289498419357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0054117133427365495,-0.011105806044763519,0.01405371634232305]},{"name":"camera_2","offset_m":[0.008666837716490811,-0.009071646465793623,0.0033323213080760257]},{"name":"camera_3","offset_m":[0.009992647138431097,-0.016556095206886782,0.007037242977968327]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006793731902389856,-0.0010663228189557593,-9.572121250516169e-05],"end_effector_yaw_offset_degrees":-0.26893628434611827},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00016963180172127807,0.001348884047739641,-0.0018184515115068525],"end_effector_yaw_offset_degrees":-0.8096890803392109},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.375748596913061e-06,0.0015747734663707404,0.0012410149387886479],"end_effector_yaw_offset_degrees":-0.487895113713265}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004696788665699547,-0.0009722944154224996],"position_m":[0.19890321133430044,-0.0467722944154225,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001854910486413868,0.0024857245940394504],"position_m":[0.23665491048641388,-0.3611142754059605,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037375421147348054,0.0044127512495783444],"position_m":[0.1655624578852652,0.23451275124957835,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009667475260918754,-0.003204412655890442],"position_m":[0.3328332524739081,0.11449558734410956,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"15fa2e8c808f953a6e9a744c2484926f37f6ccec21739577a69ecddba2af73e8","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2875/tex_ceiling_textures_95/tex_floor_textures_1204/tex_table_textures_1244/tex_wall_textures_2337","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7186653425468879401,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7186653425468879401,"visual_seed":7186653425468879401,"scene_id":"lab_003","finished_at":"2026-09-04T09:37:11"}
+{"episode_id":"ep_000073","started_at":"2026-09-04T09:37:14","dimensions":{"distractor":{"count":31,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.05840426625360995,1.7009994360665055,0.71338606911949],"aabb_xy":[[-0.14840426275448168,1.655087793648047],[0.0315957302472618,1.7469110784849635]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.2968120521163713,0.7986877982179523,0.71338606911949],"aabb_xy":[[0.2738963392313214,0.7757835010815289],[0.3197277650014212,0.8215920953543759]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.5752137441658617,1.55114648098083,0.71338606911949],"aabb_xy":[[-0.6589359696659441,1.4611464774461338],[-0.4914915186657792,1.6411464845155257]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.36998857556639997,1.778552711129278,0.71338606911949],"aabb_xy":[[-0.41996164109891554,1.7285527113167454],[-0.32001551003388456,1.8285527109418112]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.017102105228815723,1.2701926013266989,0.71338606911949],"aabb_xy":[[-0.042102104780554206,1.2600501174615641],[0.00789789432292276,1.2803350851918336]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.6510331556070579,-1.5871410281915401,0.71338606911949],"aabb_xy":[[-0.6885331558992327,-1.5911825035921436],[-0.6135331553148831,-1.5830995527909366]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[0.3502370231809162,-1.0381063448789267,0.71338606911949],"aabb_xy":[[0.3127370230090442,-1.0708070802618337],[0.3877370233527881,-1.0054056094960193]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.5679784133566009,0.6931263350753434,0.71338606911949],"aabb_xy":[[-0.6180758773376744,0.6291263345655315],[-0.5178809493755272,0.7571263355851551]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[-0.2763690136824942,-1.913981869575522,0.71338606911949],"aabb_xy":[[-0.3563690151126214,-1.993499024588131],[-0.19636901225236703,-1.834464714562912]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[-0.5367574801849478,-0.06917840989380286,0.71338606911949],"aabb_xy":[[-0.5420899948395608,-0.07450273813903846],[-0.5314249655303349,-0.06385408164856726]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.6170275045961393,0.7785773084571335,0.71338606911949],"aabb_xy":[[0.5620537825598065,0.7235773088929004],[0.6720012266324723,0.8335773080213668]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[0.3803684799668512,-1.2140050423061874,0.71338606911949],"aabb_xy":[[0.32036847945899827,-1.2708517759921085],[0.4403684804747041,-1.157158308620266]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[-0.13375281738925937,0.4076027681075778,0.71338606911949],"aabb_xy":[[-0.14025445389726401,0.39783494608126796],[-0.12725118088125478,0.4173705901338875]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.5236584409486755,-1.8104809193545464,0.71338606911949],"aabb_xy":[[-0.5876584402428437,-1.8744670597234006],[-0.4596584416545073,-1.7464947789856922]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[0.6573253344721852,-0.474378800930944,0.71338606911949],"aabb_xy":[[0.6454532514606841,-0.5593788006245943],[0.6691974174836863,-0.3893788012372936]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.09472091343072253,-2.226159145325263,0.71338606911949],"aabb_xy":[[0.030720912727253198,-2.272177527798184],[0.1587209141341919,-2.180140762852342]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.1730401052053414,-0.6679777012825161,0.71338606911949],"aabb_xy":[[0.1090401048278078,-0.7177229681333284],[0.23704010558287503,-0.6182324344317038]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.30006047323652935,-0.6663577562926195,0.71338606911949],"aabb_xy":[[-0.364060470348635,-0.7153901260870301],[-0.2360604761244236,-0.6173253864982089]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[0.16391677420823358,1.018405282919669,0.71338606911949],"aabb_xy":[[0.08391677704865827,1.006857681961852],[0.24391677136780884,1.029952883877486]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[0.6749686629955269,-1.668999938888241,0.71338606911949],"aabb_xy":[[0.6499686638298937,-1.6759521845935978],[0.6999686621611599,-1.6620476931828847]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[0.49792452683143895,-1.9625398324562633,0.71338606911949],"aabb_xy":[[0.4939640430617046,-1.9702076970417841],[0.5018850106011733,-1.954871967870743]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[-0.005851023130737487,-1.8893878851373485,0.71338606911949],"aabb_xy":[[-0.055829831641053373,-1.9393878851430673],[0.0441277853795784,-1.8393878851316297]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.6339164596285625,1.7346465656096153,0.71338606911949],"aabb_xy":[[0.5989164604357442,1.7236795196119525],[0.6689164588213807,1.7456136116072776]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[0.2647129614818099,1.73619705750628,0.71338606911949],"aabb_xy":[[0.24713465929286305,1.718622567932175],[0.28229126367075674,1.753771547080385]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_24","position":[0.2500327834035626,0.5685843157406549,0.71338606911949],"aabb_xy":[[0.2386710487502764,0.5572158493343667],[0.2613945180568487,0.5799527821469429]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_25","position":[-0.5741664726899405,0.20891407976891685,0.71338606911949],"aabb_xy":[[-0.6541664712772599,0.12959847783075593],[-0.4941664741026211,0.2882296817070777]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[0.5272287043250443,-2.2458410640101327,0.71338606911949],"aabb_xy":[[0.5094351973901278,-2.2636408096059304],[0.5450222112599606,-2.228041318414335]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[-0.21069341986568696,0.30400288848821955,0.71338606911949],"aabb_xy":[[-0.23569341913764924,0.2876575248920572],[-0.18569342059372468,0.3203482520843819]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_28","position":[-0.04197385673926557,-1.2450508680079828,0.71338606911949],"aabb_xy":[[-0.04794039568000135,-1.2510120126673467],[-0.036007317798529774,-1.2390897233486184]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_29","position":[0.29246478962879763,1.1521776547976952,0.71338606911949],"aabb_xy":[[0.28838663172174794,1.1480966745494319],[0.2965429475358474,1.1562586350459585]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_30","position":[-0.08283807330386783,-2.0734716946414,0.71338606911949],"aabb_xy":[[-0.10530284327527295,-2.0959716955202605],[-0.06037330333246271,-2.0509716937625395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626065942263702,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/951.png","name":"951"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/951.png","name":"951"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6622.png","name":"6622"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8906.png","name":"8906"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6654.png","name":"6654"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1366.png","name":"1366"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":712.8779794596586,"rotation_z_degrees":139.73235567846802,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010383377162606261,0.0047393632732727516,-0.007155180158708752]},{"name":"camera_2","offset_m":[0.01824829528437898,0.0011149382184704529,0.0034067269624640066]},{"name":"camera_3","offset_m":[0.012950663976570857,0.00533753337043227,0.0184238559700201]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019940335637916016,-0.0017373499880564318,0.0006103406509974504],"end_effector_yaw_offset_degrees":-0.6011239635340457},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003001045283282796,0.0009769457063121753,-0.001076355670992697],"end_effector_yaw_offset_degrees":0.6646965202907646},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003753005615358344,-0.0014568505099318099,3.460445406723838e-05],"end_effector_yaw_offset_degrees":-0.5843266311816697}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0002965995689095842,0.0006824204696236633],"position_m":[0.2033034004310904,-0.04511757953037634,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024368829338838483,0.0022939603527920996],"position_m":[0.23236311706611615,-0.36130603964720787,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029473205757596724,0.004502314686475154],"position_m":[0.16635267942424034,0.23460231468647516,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001029224349811373,-0.002435965592572097],"position_m":[0.3348292243498114,0.1152640344074279,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e43cf28cbf6686516d96dd2f3ace15f0087523983867e18f3f3237b7d83e70f","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_951/tex_ceiling_textures_1366/tex_floor_textures_6654/tex_table_textures_6622/tex_wall_textures_8906","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8542859390599578547,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8542859390599578547,"visual_seed":8542859390599578547,"scene_id":"lab_003","finished_at":"2026-09-04T09:39:57"}
+{"episode_id":"ep_000074","started_at":"2026-09-04T09:40:00","dimensions":{"distractor":{"count":35,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.6130781131316487,-1.832444548531344,0.71338606911949],"aabb_xy":[[0.5230781163960384,-1.8856280118486382],[0.7030781098672588,-1.7792610852140491]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[-0.502910882907753,-1.1759477918930583,0.71338606911949],"aabb_xy":[[-0.5172453080339164,-1.1880080074475972],[-0.48857645778158953,-1.1638875763385195]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.3662987005182622,0.2917952454240069,0.71338606911949],"aabb_xy":[[-0.3726108000546006,0.2860283061707881],[-0.35998660098192375,0.2975621846772257]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.576284449849041,-1.3027004147859176,0.71338606911949],"aabb_xy":[[-0.6662844484435111,-1.3189510010993388],[-0.4862844512545712,-1.2864498284724968]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.0866380009269262,-1.9063409914195026,0.71338606911949],"aabb_xy":[[-0.11163800009255932,-1.9132932371248592],[-0.061638001761293096,-1.899388745714146]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.145387567515033,-2.1686749743665317,0.71338606911949],"aabb_xy":[[0.11038756924491308,-2.1757491020615194],[0.1803875657851529,-2.161600846671543]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.2255174962844076,0.735677131609612,0.71338606911949],"aabb_xy":[[-0.2474261784237586,0.7137764647895213],[-0.20360881414505652,0.7575777984297027]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.04172986822814062,-0.8987488350744208,0.71338606911949],"aabb_xy":[[-0.02227013247532873,-0.9447672175473418],[0.10572986893160999,-0.8527304526014998]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[0.3712372429427031,-1.2380893540564428,0.71338606911949],"aabb_xy":[[0.30723724565705446,-1.2795960730092866],[0.43523724022835175,-1.1965826351035986]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.18662769290225223,1.1796543901907266,0.71338606911949],"aabb_xy":[[0.1746949585404242,1.1672722373828672],[0.19856042726408032,1.192036542998586]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.4871442302500803,0.7448489748182174,0.71338606911949],"aabb_xy":[[-0.49961158835981595,0.7323836501848942],[-0.47467687214034465,0.7573142994515412]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[0.22984202817076527,-0.49131779599420256,0.71338606911949],"aabb_xy":[[0.22426035653663648,-0.503817795811978],[0.235423699804894,-0.47881779617642706]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.14735745725100036,-1.97277014800253,0.71338606911949],"aabb_xy":[[-0.16985745726114865,-1.9868663676421332],[-0.12485745724085207,-1.9586739283629266]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[0.05014276988378663,-1.9564070437857253,0.71338606911949],"aabb_xy":[[0.022297733103179514,-1.9871915425240367],[0.07798780666439376,-1.9256225450474134]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[0.5168834836373826,0.5488853111684215,0.71338606911949],"aabb_xy":[[0.47469906947655194,0.48488531089121045],[0.5590678977982134,0.6128853114456329]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.23247172519064885,0.7040050809134915,0.71338606911949],"aabb_xy":[[0.1824767142311968,0.6540050818778997],[0.28246673615010087,0.7540050799490833]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[0.28219745438268995,-1.8846727558924952,0.71338606911949],"aabb_xy":[[0.21819745521291997,-1.9314394430114576],[0.34619745355245984,-1.8379060687735327]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.6074155695415189,1.350881101015891,0.71338606911949],"aabb_xy":[[0.6014490306007831,1.3449199563565268],[0.6133821084822546,1.3568422456752551]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.6626624461480952,0.14014931812865683,0.71338606911949],"aabb_xy":[[0.6500356588608988,0.1306032444270839],[0.6752892334352915,0.1496953918302297]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.34259332746964954,1.0650548947667984,0.71338606911949],"aabb_xy":[[-0.3558242730043308,1.051827475744799],[-0.3293623819349682,1.0782823137887978]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[-0.11916340452543916,-0.9810299892378549,0.71338606911949],"aabb_xy":[[-0.1516251054073666,-1.0111628213527573],[-0.0867017036435117,-0.9508971571229522]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[-0.5575669801106181,-0.8521351708873932,0.71338606911949],"aabb_xy":[[-0.6275669817128976,-0.8655679640890509],[-0.48756697850833863,-0.8387023776857357]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.5252987926399407,0.18256544735039748,0.71338606911949],"aabb_xy":[[-0.5902987905215885,0.1314417836438566],[-0.46029879475829294,0.23368911105693838]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[0.40999340451278243,-0.41335890756894234,0.71338606911949],"aabb_xy":[[0.3944376351025172,-0.4289093408133496],[0.42554917392304775,-0.3978084743245352]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[-0.30806099750720917,-0.14268129986489075,0.71338606911949],"aabb_xy":[[-0.34556099817178776,-0.1583683578651129],[-0.27056099684263035,-0.12699424186466854]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[0.0616341452335073,0.8628546591365209,0.71338606911949],"aabb_xy":[[0.028193970037487696,0.8294110333055907],[0.0950743204295269,0.8962982849674509]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.22027511537647315,1.5033682588458057,0.71338606911949],"aabb_xy":[[-0.24033352698971344,1.4833031719366483],[-0.20021670376323286,1.5234333457549631]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_27","position":[-0.5412217143570953,-0.41008179341760176,0.71338606911949],"aabb_xy":[[-0.5698710467175115,-0.4387273526946775],[-0.5125723819966791,-0.3814362341405259]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[-0.37377177438879866,-1.434813185363711,0.71338606911949],"aabb_xy":[[-0.43776747178389525,-1.4988131836644196],[-0.3097760769937021,-1.3708131870630023]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_29","position":[-0.27226415438052964,1.2169802853391336,0.71338606911949],"aabb_xy":[[-0.3522641513947776,1.1968457336657223],[-0.19226415736628166,1.2371148370125449]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_30","position":[-0.5917707819370847,-1.8302756148156203,0.71338606911949],"aabb_xy":[[-0.5958867320491572,-1.8343911698484656],[-0.5876548318250119,-1.8261600597827745]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_31","position":[-0.5418243802823375,-1.9482432304388846,0.71338606911949],"aabb_xy":[[-0.5594572158758649,-1.9658661764545078],[-0.5241915446888098,-1.9306202844232618]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_32","position":[-0.21036034462335074,-1.4345601571591007,0.71338606911949],"aabb_xy":[[-0.24739445405141042,-1.4689373644928099],[-0.173326235195291,-1.400182949825391]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_33","position":[-0.36388313345270146,-2.3007016998286374,0.71338606911949],"aabb_xy":[[-0.37473473970157706,-2.3115609905562886],[-0.35303152720382586,-2.289842409100986]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_34","position":[-0.23062948170152725,0.555169687349149,0.71338606911949],"aabb_xy":[[-0.2556294812532657,0.5450272034840141],[-0.20562948214978874,0.5653121712142836]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671452510307224,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8801.png","name":"8801"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8801.png","name":"8801"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3285.png","name":"3285"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8410.png","name":"8410"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2093.png","name":"2093"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4121.png","name":"4121"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":832.5073164305938,"rotation_z_degrees":209.87046983610483,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028201824308598245,-0.012480483107122882,0.01366304414941422]},{"name":"camera_2","offset_m":[0.00496883735896661,0.002944227477027068,0.009837265459146299]},{"name":"camera_3","offset_m":[-0.017872320636562883,0.010950356245273053,0.019100100709073583]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001279015164558776,-0.0016984338566632725,0.0010472918708301468],"end_effector_yaw_offset_degrees":0.8470864647516105},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002822069351939515,0.00012156599562396751,-0.0016016121439811598],"end_effector_yaw_offset_degrees":0.09500663071530213},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000335483935404422,-0.0013496558723694028,0.0011039324383721513],"end_effector_yaw_offset_degrees":0.8198949317448265}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00032646247564121003,0.003109819598195105],"position_m":[0.20327353752435878,-0.042690180401804896,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021065723785160285,0.0009575357365128566],"position_m":[0.23690657237851603,-0.3626424642634871,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003984037175822622,-0.004971152776948317],"position_m":[0.17328403717582264,0.22512884722305168,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004007792631312855,0.003832046957343272],"position_m":[0.33780779263131283,0.12153204695734326,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f79361464c8752f477d676ecf7476b562dc26b04f0083d9540f3e4c15de4314d","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8801/tex_ceiling_textures_4121/tex_floor_textures_2093/tex_table_textures_3285/tex_wall_textures_8410","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":197393430704935654,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":197393430704935654,"visual_seed":197393430704935654,"scene_id":"lab_003","finished_at":"2026-09-04T09:42:43"}
+{"episode_id":"ep_000075","started_at":"2026-09-04T09:42:48","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.6609980811727161,-1.980347575451563,0.71338606911949],"aabb_xy":[[-0.6649585649424504,-1.9880154400370837],[-0.6570375974029817,-1.9726797108660425]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[0.030524012246113452,1.228121083246445,0.71338606911949],"aabb_xy":[[0.02568041748488348,1.2232694307674612],[0.03536760700734343,1.2329727357254294]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.6576914808816936,1.5907143899903375,0.71338606911949],"aabb_xy":[[0.5926914827257745,1.5644181454404251],[0.7226914790376127,1.6170106345402495]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.2946419345168643,1.511313857628402,0.71338606911949],"aabb_xy":[[-0.3171556263403214,1.4413138570273945],[-0.272128242693407,1.5813138582294095]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[-0.04342037182852321,-0.8170988351798041,0.71338606911949],"aabb_xy":[[-0.05070268820518685,-0.9070988387893127],[-0.03613805545185954,-0.7270988315702948]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.379356078417985,-0.44416841072337876,0.71338606911949],"aabb_xy":[[0.37591540217792785,-0.4480298436977433],[0.3827967546580422,-0.44030697774901434]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[-0.5530728526958413,0.739045568642509,0.71338606911949],"aabb_xy":[[-0.5580288728807226,0.7165455684403874],[-0.5481168325109602,0.7615455688446308]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[0.4379835606259699,-1.4047694886414324,0.71338606911949],"aabb_xy":[[0.3579835595528495,-1.4145475349788166],[0.5179835616990902,-1.3949914423040477]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[0.4959941292193546,-0.674724195725602,0.71338606911949],"aabb_xy":[[0.4359941286233385,-0.7295366682708256],[0.5559941298153708,-0.6199117231803787]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[-0.24046620050803974,1.3164215322777668,0.71338606911949],"aabb_xy":[[-0.25796619978612667,1.2990834322114206],[-0.2229662012299529,1.3337596323441125]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[-0.08082531356946887,0.8317270279790074,0.71338606911949],"aabb_xy":[[-0.14082531443028162,0.7803005979725209],[-0.020825312708656046,0.8831534579854937]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[-0.010451531968797556,-1.635895966329843,0.71338606911949],"aabb_xy":[[-0.060451533329684774,-1.6858738709052588],[0.03954846939208966,-1.5859180617544275]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.25732474167276453,-0.9947472058786166,0.71338606911949],"aabb_xy":[[-0.2773831532860048,-1.014812292787774],[-0.23726633005952424,-0.9746821189694591]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[0.4704407030831397,-1.0606174389216112,0.71338606911949],"aabb_xy":[[0.3904406998191266,-1.0741774712305243],[0.5504407063471528,-1.0470574066126976]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.1342150364130903,-0.6501491771155676,0.71338606911949],"aabb_xy":[[0.11204250943643942,-0.6723248442716908],[0.1563875633897411,-0.6279735099594445]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.4648379035952148,0.7234089319491512,0.71338606911949],"aabb_xy":[[0.4470443966602983,0.7056091863533537],[0.4826314105301312,0.741208677544949]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[-0.47770581747071783,0.7471217807648163,0.71338606911949],"aabb_xy":[[-0.4851182730121063,0.7412705703431882],[-0.47029336192932936,0.7529729911864441]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.6837759579937502,-2.08047761261443,0.71338606911949],"aabb_xy":[[-0.6901897716369351,-2.0868874328620977],[-0.6773621443505652,-2.0740677923667614]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.5539015184664036,0.0036064050884765386,0.71338606911949],"aabb_xy":[[0.5431285445450359,-0.03139359313056245],[0.5646744923877715,0.038606403307515524]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[0.45416192450632864,-1.943313132407854,0.71338606911949],"aabb_xy":[[0.4316619246924263,-1.9477877487783348],[0.4766619243202311,-1.9388385160373733]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.5990657818993306,0.1784633160614213,0.71338606911949],"aabb_xy":[[-0.6790657823695465,0.17015260844707294],[-0.5190657814291146,0.1867740236757697]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.08328800004555825,-0.6669126648740669,0.71338606911949],"aabb_xy":[[-0.09839030150657634,-0.6820141865051285],[-0.06818569858454014,-0.6518111432430048]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.16107090159657456,0.9312185434121094,0.71338606911949],"aabb_xy":[[0.15695495148450186,0.9271029883792639],[0.1651868517086472,0.935334098444955]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.5392274294128432,0.2762054827490563,0.71338606911949],"aabb_xy":[[-0.5543903023897803,0.26104002545393756],[-0.5240645564359061,0.2913709400441751]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.05450625949131582,-2.425918506013195,0.71338606911949],"aabb_xy":[[-0.015493742317429608,-2.4472722747773825],[0.12450626130006126,-2.4045647372490078]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6639387701268611,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7070.png","name":"7070"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7070.png","name":"7070"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/866.png","name":"866"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1815.png","name":"1815"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8621.png","name":"8621"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2457.png","name":"2457"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":616.1916814469473,"rotation_z_degrees":338.52792616526636,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00589509579521196,-0.01675499533465086,-0.010972354656764573]},{"name":"camera_2","offset_m":[0.00849054733329322,0.005467478543142133,0.010832540458745564]},{"name":"camera_3","offset_m":[0.0004424023036812344,-0.005602932221854826,-0.014948525147172934]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004716649016088502,-0.0017052128988330928,-0.0015552769882050917],"end_effector_yaw_offset_degrees":-0.2413956849440646},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010749723211019395,0.0018775522838012692,0.0007307323915671359],"end_effector_yaw_offset_degrees":0.8220560127753729},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013544621395287933,-0.001078224771938691,-0.00014863700639964955],"end_effector_yaw_offset_degrees":0.8847046743012337}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036177982583617254,0.004375420193681622],"position_m":[0.20721779825836173,-0.041424579806318376,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030655330431945084,-0.0011014354282340411],"position_m":[0.2317344669568055,-0.364701435428234,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020299919533396625,-0.0021633462891878863],"position_m":[0.16727000804666034,0.22793665371081212,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004035132399035179,-0.0004611657675486257],"position_m":[0.3297648676009648,0.11723883423245138,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"00a4222894354bb94b4afae9706dff6130398ce46843857c906203cc6cb4b4ba","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7070/tex_ceiling_textures_2457/tex_floor_textures_8621/tex_table_textures_866/tex_wall_textures_1815","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":725544885362341172,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":725544885362341172,"visual_seed":725544885362341172,"scene_id":"lab_003","finished_at":"2026-09-04T09:45:26"}
+{"episode_id":"ep_000076","started_at":"2026-09-04T09:45:29","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[0.6356360412116939,1.065555501989489,0.71338606911949],"aabb_xy":[[0.6006360412351981,1.0560908859418725],[0.6706360411881898,1.0750201180371057]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[-0.05695491129935926,1.4022215625441805,0.71338606911949],"aabb_xy":[[-0.09445491248415205,1.3978033398481196],[-0.019454910114566463,1.4066397852402406]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[0.4729478359239361,1.5195659983454104,0.71338606911949],"aabb_xy":[[0.41294783541608315,1.4627192646594889],[0.532947836431789,1.5764127320313315]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[-0.37834452350835757,-1.0574632792061975,0.71338606911949],"aabb_xy":[[-0.4283395344678097,-1.1074632782417893],[-0.3283495125489056,-1.0074632801706058]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[-0.1253536118056111,0.9247929991643926,0.71338606911949],"aabb_xy":[[-0.14278432688461756,0.9075208845005418],[-0.10792289672660456,0.9420651138282434]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.3018818381843708,0.6949567604616362,0.71338606911949],"aabb_xy":[[-0.3518818376245664,0.6449888359773198],[-0.25188183874417513,0.7449246849459524]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.6342566815956245,0.7542744663053491,0.71338606911949],"aabb_xy":[[0.5442566792616055,0.6767921117202363],[0.7242566839296436,0.8317568208904617]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[0.2304237296019762,1.6253985106999491,0.71338606911949],"aabb_xy":[[0.22411163006563778,1.6196315714467304],[0.23673582913831465,1.6311654499531683]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.08402487418596838,0.48378307744932725,0.71338606911949],"aabb_xy":[[-0.11442298528511195,0.4533761754476576],[-0.053626763086824784,0.5141899794509965]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.36653213682825814,0.7502814392306054,0.71338606911949],"aabb_xy":[[0.3320696588151703,0.7436177620476826],[0.40099461484134585,0.7569451164135282]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.1390953133661713,1.6170193811586153,0.71338606911949],"aabb_xy":[[-0.1640953132986892,1.6101367129376922],[-0.11409531343365342,1.6239020493795389]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.6649185775419816,-0.14711620484939347,0.71338606911949],"aabb_xy":[[-0.6743360521118443,-0.1565323819871125],[-0.6555011029721188,-0.13770002771167444]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[0.26954375478053816,-1.7222787115846052,0.71338606911949],"aabb_xy":[[0.24707898480913298,-1.744778712463466],[0.2920085247519432,-1.699778710705745]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.5164854128742863,0.5445695460792632,0.71338606911949],"aabb_xy":[[-0.5864854150057157,0.5218075804535675],[-0.44648541074285664,0.5673315117049588]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.3569536504900283,-0.5843142230827634,0.71338606911949],"aabb_xy":[[-0.4469536502132025,-0.6073875756179431],[-0.2669536507668541,-0.5612408705475834]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[-0.026517019647417484,-1.0995150594258498,0.71338606911949],"aabb_xy":[[-0.06401701807081783,-1.1126792733936806],[0.010982978775982873,-1.086350845458019]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[-0.4016385237702471,0.902734168127826,0.71338606911949],"aabb_xy":[[-0.4477236150249786,0.838734170875271],[-0.35555343251551563,0.9667341653803813]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.4466673866746691,-0.3267190257027881,0.71338606911949],"aabb_xy":[[0.41669982976484343,-0.35671902600067384],[0.47663494358449476,-0.29671902540490236]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.06829853201971359,-1.809603470325222,0.71338606911949],"aabb_xy":[[0.008298531768312398,-1.8638847953616866],[0.12829853227111476,-1.7553221452887573]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[-0.5038041165975605,1.7394091835020453,0.71338606911949],"aabb_xy":[[-0.5888041150149838,1.6545348880397601],[-0.4188041181801373,1.82428347896433]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.2938765596188847,1.3999756963114809,0.71338606911949],"aabb_xy":[[0.2857488714255715,1.3910620879007731],[0.3020042478121979,1.4088893047221887]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[0.5857710026136789,1.1980746657458408,0.71338606911949],"aabb_xy":[[0.568271003335592,1.1807365656794948],[0.6032710018917657,1.2154127658121867]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.15655935302950696,-0.361821962840704,0.71338606911949],"aabb_xy":[[-0.16697091170999065,-0.36716769617660244],[-0.14614779434902322,-0.35647622950480545]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[-0.009719628606183695,0.8333407423684682,0.71338606911949],"aabb_xy":[[-0.02232232774326015,0.8207453461436028],[0.0028830705308927618,0.8459361385933338]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[-0.6468122292060817,-2.3793773719913367,0.71338606911949],"aabb_xy":[[-0.6548555891320369,-2.464377373086703],[-0.6387688692801265,-2.2943773708959703]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[0.07237833551946737,1.2872833991548407,0.71338606911949],"aabb_xy":[[0.030193921358636633,1.2232833988776295],[0.11456274968029811,1.351283399432052]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[0.0785693486119009,0.9878513115112182,0.71338606911949],"aabb_xy":[[0.056069348797998506,0.9833766951407373],[0.10106934842580327,0.9923259278816988]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[0.1661316399668954,-2.524091775988036,0.71338606911949],"aabb_xy":[[0.1398428156464547,-2.5503632096426867],[0.19242046428733603,-2.4978203423333842]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[-0.4826875798524079,-2.242686914134386,0.71338606911949],"aabb_xy":[[-0.5626875803226239,-2.2509976217487346],[-0.402687579382192,-2.234376206520038]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[0.075136034290334,-0.8242135133949882,0.71338606911949],"aabb_xy":[[0.03383149122659801,-0.8882135129631051],[0.11644057735406999,-0.760213513826871]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_30","position":[0.28055976248697334,-2.382185944716704,0.71338606911949],"aabb_xy":[[0.2165597652013247,-2.423692663669548],[0.344559759772622,-2.3406792257638602]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680300180120771,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1584.png","name":"1584"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1584.png","name":"1584"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/680.png","name":"680"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1984.png","name":"1984"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5018.png","name":"5018"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6678.png","name":"6678"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":739.8280722978633,"rotation_z_degrees":113.57406072407049,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012594522425982344,0.019489360039434692,-0.014608116093892148]},{"name":"camera_2","offset_m":[0.01664941628594092,-0.012091757054894497,0.0035756418868994784]},{"name":"camera_3","offset_m":[-0.01514105182073696,0.0042956516535337524,0.018414110492795222]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00198521998208708,-0.0009511460853167239,0.001846452823916879],"end_effector_yaw_offset_degrees":0.3350502840292149},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001444410385877816,-0.0004583070276604629,0.0011340280014801754],"end_effector_yaw_offset_degrees":0.12539673303833676},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000336719225346966,-0.0011749696006515724,0.0009963601140715226],"end_effector_yaw_offset_degrees":0.5706599679604449}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0021425202852429067,-0.0037899412360823392],"position_m":[0.2057425202852429,-0.04958994123608234,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004185513661010778,0.0025483625066801234],"position_m":[0.23898551366101078,-0.36105163749331987,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004378414480085035,0.004405186383739614],"position_m":[0.16492158551991498,0.2345051863837396,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012117186839916837,0.004210930929224604],"position_m":[0.3325882813160083,0.1219109309292246,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db68b8a12bab11657d703abd1ae7180d0c80ee682add5df710edaec686241ed3","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1584/tex_ceiling_textures_6678/tex_floor_textures_5018/tex_table_textures_680/tex_wall_textures_1984","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1233849126931278897,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1233849126931278897,"visual_seed":1233849126931278897,"scene_id":"lab_003","finished_at":"2026-09-04T09:48:04"}
+{"episode_id":"ep_000077","started_at":"2026-09-04T09:48:07","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[-0.6167152183335399,-0.3779843444473019,0.71338606911949],"aabb_xy":[[-0.6667152186941059,-0.4279643316569048],[-0.5667152179729738,-0.3280043572376989]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.5825655319603874,-0.513981268889407,0.71338606911949],"aabb_xy":[[-0.5919125395426826,-0.528284891107051],[-0.5732185243780922,-0.49967764667176295]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[0.5958382160136433,-0.4527687485484928,0.71338606911949],"aabb_xy":[[0.5862065797932137,-0.4624060613282017],[0.6054698522340729,-0.4431314357687839]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[0.5156173854471107,-1.3438337471665294,0.71338606911949],"aabb_xy":[[0.4937276378581699,-1.4338337444557785],[0.5375071330360515,-1.2538337498772802]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.028452804355515338,1.4614599814068394,0.71338606911949],"aabb_xy":[[-0.021524612509738247,1.4114599799175906],[0.07843022122076891,1.5114599828960877]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[0.2501719748829617,-0.5528167485055704,0.71338606911949],"aabb_xy":[[0.20017696392350975,-0.6028167475411621],[0.3001669858424138,-0.5028167494699787]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.10009349176597537,1.1549231149564934,0.71338606911949],"aabb_xy":[[0.04607789548407537,1.090923112064236],[0.15410908804787538,1.2189231178487503]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.3982973596165148,-0.9940870015648076,0.71338606911949],"aabb_xy":[[-0.42694669197693097,-1.0227325608418831],[-0.3696480272560985,-0.9654414422877315]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[-0.21987070267003345,0.6656254823155767,0.71338606911949],"aabb_xy":[[-0.2482004126185737,0.6611647401218597],[-0.19154099272149325,0.6700862245092938]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[0.17347742335733585,-2.114657733152481,0.71338606911949],"aabb_xy":[[0.12347742391714023,-2.1646256576367975],[0.22347742279753147,-2.064689808668165]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.18020472129526754,-1.6092982215009322,0.71338606911949],"aabb_xy":[[0.10020472263838154,-1.623803080425195],[0.26020471995215355,-1.5947933625766693]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.3689083949578509,-0.2881280543043441,0.71338606911949],"aabb_xy":[[0.36294185601711504,-0.2940891989637081],[0.3748749338985866,-0.28216690964498004]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.5864835413645032,1.0447209695186097,0.71338606911949],"aabb_xy":[[-0.5944775299422064,1.0367208894235194],[-0.5784895527867996,1.0527210496137]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.34136446874275983,-2.289181607048662,0.71338606911949],"aabb_xy":[[-0.4053644651700818,-2.3363512308707586],[-0.277364472315438,-2.2420119832265657]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[0.498280642649376,1.7313911075838795,0.71338606911949],"aabb_xy":[[0.4406501737621051,1.6713911086571687],[0.5559111115366469,1.7913911065105899]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.43628233321670185,1.7615693958130652,0.71338606911949],"aabb_xy":[[-0.44569980778656454,1.752153218675346],[-0.42686485864683904,1.770985572950784]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.5677197737365975,-1.0549556402755838,0.71338606911949],"aabb_xy":[[0.5571522940784985,-1.0655006703885923],[0.5782872533946966,-1.0444106101625752]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.19006338375734988,1.7001116669149234,0.71338606911949],"aabb_xy":[[0.165063383824832,1.6932289986940001],[0.21506338368986777,1.7069943351358468]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[0.5568723116853911,0.47153702231825045,0.71338606911949],"aabb_xy":[[0.5193723118683575,0.4668988110071086],[0.5943723115024246,0.4761752336293923]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.5228968874740383,-0.09354421731764884,0.71338606911949],"aabb_xy":[[0.4730801080092035,-0.1435442158019522],[0.572713666938873,-0.04354421883334547]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[0.4734797403921278,0.21330162643745032,0.71338606911949],"aabb_xy":[[0.4400395651961081,0.17985800060652019],[0.5069199155881472,0.24674525226838034]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.4936743237174812,1.3557797560205458,0.71338606911949],"aabb_xy":[[0.44367504854904505,1.3057797547445986],[0.5436735988859174,1.405779757296493]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.617437990283498,-0.03447080618597376,0.71338606911949],"aabb_xy":[[-0.6814379873956037,-0.08350317598038437],[-0.5534379931713923,0.014561563608436856]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[-0.23115762175412347,0.8507442366027367,0.71338606911949],"aabb_xy":[[-0.28115762040004466,0.8008246929432744],[-0.18115762310820224,0.9006637802621992]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[-0.08376705620507718,-2.238553777620263,0.71338606911949],"aabb_xy":[[-0.12507159926881317,-2.30255377718838],[-0.04246251314134118,-2.174553778052146]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_25","position":[-0.42715312129345584,-1.6869064069182356,0.71338606911949],"aabb_xy":[[-0.5071531198807753,-1.7662220088563962],[-0.3471531227061364,-1.6075908049800745]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6612569887446655,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1596.png","name":"1596"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1596.png","name":"1596"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7551.png","name":"7551"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9708.png","name":"9708"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9203.png","name":"9203"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1597.png","name":"1597"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":604.2128515709161,"rotation_z_degrees":181.25551753749514,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0027610563787744263,-0.01144503365774046,0.0039406837041307576]},{"name":"camera_2","offset_m":[0.009927361660169408,-0.01549591007437189,-0.005141378909496442]},{"name":"camera_3","offset_m":[-0.00032924401111510126,0.019101030588200885,0.015507000393204257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015906554289355484,-0.0004462422508326447,-0.001971303725545377],"end_effector_yaw_offset_degrees":0.5168471824998724},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009827688170876711,0.0017294913848598268,-0.0016364612438245652],"end_effector_yaw_offset_degrees":-0.6999021655009303},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001663605546831612,0.00040275711139698333,0.0005670488834170952],"end_effector_yaw_offset_degrees":0.8911088835204397}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003484403824757438,0.0029171440702198655],"position_m":[0.20011559617524258,-0.04288285592978013,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004195667303528689,0.0020671265777279894],"position_m":[0.23060433269647132,-0.36153287342227197,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0048027038831303616,0.002460729992222746],"position_m":[0.16449729611686964,0.23256072999222274,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014344355156036448,0.003571411382452822],"position_m":[0.33236556448439636,0.12127141138245282,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9c463d9e147d46c6b9f6966aa304d9d496b0e7fe60183af4e4ac4824bdcb0f93","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1596/tex_ceiling_textures_1597/tex_floor_textures_9203/tex_table_textures_7551/tex_wall_textures_9708","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6461930122319268675,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6461930122319268675,"visual_seed":6461930122319268675,"scene_id":"lab_003","finished_at":"2026-09-04T09:50:44"}
+{"episode_id":"ep_000078","started_at":"2026-09-04T09:50:49","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[0.034298692676170806,1.6672425970857936,0.71338606911949],"aabb_xy":[[-0.029701309236171536,1.6113314478277834],[0.09829869458851315,1.7231537463438042]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.39509755358137344,0.9519134907295386,0.71338606911949],"aabb_xy":[[0.3626358526994459,0.9217806586146359],[0.42755925446330084,0.982046322844441]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.6369310965963133,-0.9119538745758107,0.71338606911949],"aabb_xy":[[0.6268493895177398,-0.9919538724679251],[0.6470128036748868,-0.8319538766836958]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.5112712861712367,0.3053292635819371,0.71338606911949],"aabb_xy":[[0.4659926712900876,0.24132926423375345],[0.5565499010523861,0.3693292629301208]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.08501983798648283,-1.078927321158294,0.71338606911949],"aabb_xy":[[0.048225204861576554,-1.1158331962548764],[0.1218144711113891,-1.0420214460617119]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.11147404630344704,-0.6335986052679963,0.71338606911949],"aabb_xy":[[-0.16145828201162427,-0.6835986040814918],[-0.061489810595269825,-0.5835986064545006]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[-0.5041572498053796,1.7945335175066206,0.71338606911949],"aabb_xy":[[-0.5397864057053393,1.7589008507497677],[-0.46852809390541983,1.8301661842634735]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[0.6313135044591827,0.6628679348434825,0.71338606911949],"aabb_xy":[[0.5513196808806244,0.5828679322506409],[0.7113073280377409,0.7428679374363241]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[-0.4997945713888664,1.2102056516275348,0.71338606911949],"aabb_xy":[[-0.503708444584289,1.201456636220978],[-0.4958806981934438,1.2189546670340916]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[0.4281352722212852,0.5284856600521173,0.71338606911949],"aabb_xy":[[0.36413526987848366,0.4835448088079847],[0.4921352745640868,0.5734265112962497]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.6345828685676842,-2.197325203639334,0.71338606911949],"aabb_xy":[[0.5508606430676017,-2.2873252071740295],[0.7183050940677667,-2.1073252001046376]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[-0.4492438017469714,-0.5751570025922472,0.71338606911949],"aabb_xy":[[-0.5132438024504409,-0.6211753850651683],[-0.38524380104350214,-0.5291386201193263]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.38347832763967094,-1.648263710503644,0.71338606911949],"aabb_xy":[[-0.3907395752100783,-1.6610507207671534],[-0.37621708006926347,-1.6354767002401345]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[0.07081053098016776,-1.9275999837528843,0.71338606911949],"aabb_xy":[[0.020817418870975882,-1.9775999844270802],[0.12080364308935967,-1.877599983078689]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.27137677575580954,1.6899991970132286,0.71338606911949],"aabb_xy":[[-0.308876776547805,1.6836313560550384],[-0.2338767749638141,1.6963670379714189]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[-0.015497947083284336,-1.36215876496344,0.71338606911949],"aabb_xy":[[-0.020133062235517717,-1.3660261000405882],[-0.010862831931050945,-1.3582914298862911]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.3615653958452232,-1.3485904020014596,0.71338606911949],"aabb_xy":[[0.32724911867060524,-1.3985904019746374],[0.3958816730198411,-1.298590402028282]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[-0.4000884550559557,-0.37047676727316947,0.71338606911949],"aabb_xy":[[-0.42367357851985055,-0.4354767695186013],[-0.37650333159206084,-0.30547676502773774]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[-0.4863720650498329,-0.9670423316981327,0.71338606911949],"aabb_xy":[[-0.4972778411373956,-1.0470423280969618],[-0.47546628896227017,-0.8870423352993035]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.6690396860353022,-2.0161567964981844,0.71338606911949],"aabb_xy":[[-0.6942605228951417,-2.041380547351071],[-0.6438188491754624,-1.9909330456452974]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.0966927516530176,0.6937375605154128,0.71338606911949],"aabb_xy":[[0.05919275148114565,0.6610368251325056],[0.13419275182488954,0.72643829589832]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.3835935363794303,0.2579010265054045,0.71338606911949],"aabb_xy":[[-0.44758923377452686,0.1939010282046958],[-0.3195978389843337,0.32190102480611316]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[-0.43276460941422273,0.892868711334017,0.71338606911949],"aabb_xy":[[-0.48276388458265895,0.8428687100580698],[-0.3827653342457866,0.9428687126099642]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[-0.1093944113345856,-1.3137661894892596,0.71338606911949],"aabb_xy":[[-0.1339406269573363,-1.3440150860382967],[-0.08484819571183487,-1.2835172929402225]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[0.15559995312735753,1.2532384011463669,0.71338606911949],"aabb_xy":[[0.0705999547099343,1.1683641056840819],[0.24059995154478075,1.3381126966086518]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[-0.3851019849405386,1.7485974906212607,0.71338606911949],"aabb_xy":[[-0.41854216013655815,1.7151538647903304],[-0.35166180974451894,1.7820411164521905]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_26","position":[-0.35937292152040845,-1.347633112850335,0.71338606911949],"aabb_xy":[[-0.4393729225935288,-1.3574111591877194],[-0.2793729204472881,-1.3378550665129505]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_27","position":[-0.4498091661979375,-0.23340900298740186,0.71338606911949],"aabb_xy":[[-0.45470845850450103,-0.26108592228997063],[-0.44490987389137404,-0.20573208368483306]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[-0.4510019066037467,-1.815202463506096,0.71338606911949],"aabb_xy":[[-0.5410019051982167,-1.8314530498195172],[-0.3610019080092768,-1.7989518771926751]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[0.6800000152223242,-1.9751271441168736,0.71338606911949],"aabb_xy":[[0.6617941915610767,-1.9861525446988653],[0.698205838883572,-1.964101743534882]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_30","position":[0.19707007011451005,-0.7277351230387752,0.71338606911949],"aabb_xy":[[0.1475896489005513,-0.7917351209516269],[0.24655049132846887,-0.6637351251259233]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_31","position":[0.04811247450473355,-1.3921626438811963,0.71338606911949],"aabb_xy":[[0.033778049378570096,-1.404222859435735],[0.062446899630897,-1.3801024283266574]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_32","position":[0.45714136099812364,-0.1739772942162201,0.71338606911949],"aabb_xy":[[0.40214136137637785,-0.22896098700369283],[0.5121413606198695,-0.11899360142874738]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_33","position":[-0.27558391416120404,1.0599188886222923,0.71338606911949],"aabb_xy":[[-0.3067308330047871,0.9899188899354852],[-0.24443699531762086,1.1299188873090995]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_34","position":[-0.16698826812605283,-1.613813555555681,0.71338606911949],"aabb_xy":[[-0.17674425763522672,-1.6235760896149152],[-0.15723227861687894,-1.6040510214964463]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663760998371764,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6254.png","name":"6254"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6254.png","name":"6254"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6375.png","name":"6375"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5030.png","name":"5030"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9977.png","name":"9977"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8479.png","name":"8479"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":530.493720249792,"rotation_z_degrees":300.61672938744204,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008733779334869386,0.0059344728882234285,-0.009193390626134246]},{"name":"camera_2","offset_m":[0.005308294140063393,-0.019621963920523466,0.0024645481707629147]},{"name":"camera_3","offset_m":[0.005716962787722636,-0.01420508316403529,0.012957127262310426]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006027026235814175,0.0011374892400334347,0.0010851610469700232],"end_effector_yaw_offset_degrees":0.6469911146806853},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016547249131661484,-0.0012583127648960516,-0.0005014689728709838],"end_effector_yaw_offset_degrees":0.6697766260619082},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014846836663923082,0.0009143634619264308,2.4412740836816937e-05],"end_effector_yaw_offset_degrees":0.8718591611089355}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00047927315653524885,0.0027346775657571586],"position_m":[0.20407927315653526,-0.04306532243424284,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-2.0144468824435588e-05,-0.0009012003381585667],"position_m":[0.23477985553117559,-0.3645012003381585,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00014325292822888434,0.00134854193505618],"position_m":[0.1694432529282289,0.23144854193505618,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004671107056532613,-0.000540576277707103],"position_m":[0.32912889294346737,0.11715942372229289,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"92c07073a5a471388b06d8152be28dbc146aee00c2b648d29dfe37725defe2c5","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0078.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6254/tex_ceiling_textures_8479/tex_floor_textures_9977/tex_table_textures_6375/tex_wall_textures_5030","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6335556457074421681,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6335556457074421681,"visual_seed":6335556457074421681,"scene_id":"lab_003","finished_at":"2026-09-04T09:53:25"}
+{"episode_id":"ep_000079","started_at":"2026-09-04T09:53:28","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[-0.5344721968861985,-2.1073739313810065,0.71338606911949],"aabb_xy":[[-0.5844672078456506,-2.1573739304165986],[-0.4844771859267466,-2.057373932345415]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[0.07126892390015771,-0.9623339644198092,0.71338606911949],"aabb_xy":[[0.040870812801014116,-0.9927408664214787],[0.10166703499930128,-0.9319270624181397]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.48411164698191644,0.4790207388857355,0.71338606911949],"aabb_xy":[[0.4708807014472351,0.46579331986373607],[0.4973425925165977,0.4922481579077349]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[0.17616827581543493,-2.43680638111984,0.71338606911949],"aabb_xy":[[0.1478385658668947,-2.4412671233135574],[0.20449798576397515,-2.4323456389261233]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[0.6140937458808027,0.31874454195390367,0.71338606911949],"aabb_xy":[[0.6028486903101848,0.3075027442298084],[0.6253388014514205,0.32998633967799895]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.2099069802282416,-1.5026794613947239,0.71338606911949],"aabb_xy":[[-0.23490698016075953,-1.5095621296156472],[-0.18490698029572375,-1.4957967931738005]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[-0.10276872748021482,1.5237865510513111,0.71338606911949],"aabb_xy":[[-0.1252687272941172,1.5193119346808304],[-0.08026872766631242,1.5282611674217919]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.2747869838465743,-1.1271422352251117,0.71338606911949],"aabb_xy":[[-0.3247699340340536,-1.1771422348676719],[-0.22480403365909493,-1.077142235582551]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[0.2090674548935233,-1.7525874778736141,0.71338606911949],"aabb_xy":[[0.14906745429750715,-1.8073999504188376],[0.2690674554895395,-1.6977750053283907]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.16536338143665175,1.7284883195249665,0.71338606911949],"aabb_xy":[[0.14547234155631153,1.7158325082402701],[0.18525442131699202,1.7411441308096638]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.590695160562685,1.2352675821991088,0.71338606911949],"aabb_xy":[[-0.6082734627516317,1.2176930926250038],[-0.573116858373738,1.2528420717732138]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.43842970118182306,-1.9816394515013203,0.71338606911949],"aabb_xy":[[-0.44758958012569966,-1.9881706695448573],[-0.42926982223794646,-1.9751082334577832]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[0.5988250328548501,-1.1250912534432358,0.71338606911949],"aabb_xy":[[0.5348250325808719,-1.1751573536405238],[0.6628250331288283,-1.0750251532459478]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.3280133403758918,1.7147362599533937,0.71338606911949],"aabb_xy":[[0.32197632737522713,1.7087095588844459],[0.3340503533765566,1.720762961022342]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.5309295153519551,0.38956286466239565,0.71338606911949],"aabb_xy":[[0.5222315530612398,0.377437890354921],[0.5396274776426704,0.4016878389698704]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.6207135110924951,-0.5254147688420336,0.71338606911949],"aabb_xy":[[0.601829127323985,-0.5443006936223864],[0.6395978948610054,-0.5065288440616809]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[0.4844211608001858,-0.09108236253947544,0.71338606911949],"aabb_xy":[[0.4666276538652693,-0.10888210813527309],[0.5022146677351021,-0.07328261694367776]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.39165287071276034,1.386422188790998,0.71338606911949],"aabb_xy":[[-0.4456684669946603,1.3224221858987404],[-0.3376372744308603,1.4504221916832547]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[-0.25870234793788904,-2.3220931462848178,0.71338606911949],"aabb_xy":[[-0.26594611398413437,-2.40209314448842],[-0.2514585818916437,-2.2420931480812154]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.09672164476419132,1.1800015315275756,0.71338606911949],"aabb_xy":[[-0.12668920167401698,1.1500015312296898],[-0.06675408785436565,1.2100015318254613]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[0.5395773724226629,1.0967271794021398,0.71338606911949],"aabb_xy":[[0.4545773740052397,1.0118528839398548],[0.6245773708400861,1.1816014748644248]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[-0.2177577537107651,-0.6662327134689956,0.71338606911949],"aabb_xy":[[-0.28275775226783795,-0.6959852468828782],[-0.15275775515369225,-0.636480180055113]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[0.004665833440900546,-2.0095886410542168,0.71338606911949],"aabb_xy":[[-0.02581841668612961,-2.0595886408357122],[0.0351500835679307,-1.9595886412727204]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[0.26609177037051945,1.2593398687302435,0.71338606911949],"aabb_xy":[[0.2509196010888861,1.2441710118020401],[0.2812639396521528,1.2745087256584469]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[0.6718570521770733,-0.026673674365503164,0.71338606911949],"aabb_xy":[[0.6624395776072105,-0.03608985150322219],[0.681274526746936,-0.017257497227784135]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[-0.5535759120110946,-1.7636539218861174,0.71338606911949],"aabb_xy":[[-0.5632075482315242,-1.7732912346658263],[-0.543944275790665,-1.7540166091064084]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[0.6932249239252015,-2.3411973647095694,0.71338606911949],"aabb_xy":[[0.6713162417858504,-2.3630980315296597],[0.7151336060645525,-2.3192966978894782]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[-0.042647621263879776,-2.247788570627403,0.71338606911949],"aabb_xy":[[-0.0704926580444869,-2.2785730693657147],[-0.014802584483272645,-2.2170040718890913]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664523026773116,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9981.png","name":"9981"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9981.png","name":"9981"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5314.png","name":"5314"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7650.png","name":"7650"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7122.png","name":"7122"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3089.png","name":"3089"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":782.1500880276567,"rotation_z_degrees":145.6504115835228,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003315122320401681,-0.018409521688875663,0.0006057488056516562]},{"name":"camera_2","offset_m":[0.006520969484113372,-0.008356871523146578,-0.009410400120705473]},{"name":"camera_3","offset_m":[-0.00643489031452694,0.009161082988808748,-0.014846062917750787]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005745861937801742,-0.00035476193271551625,-0.0013570707997636702],"end_effector_yaw_offset_degrees":0.6868879157836865},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012522905344932505,-0.0011993334303632235,-0.0016978303959888441],"end_effector_yaw_offset_degrees":0.3523045606911803},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.6682700053971996e-05,-0.0014380582174781408,-8.076252411347881e-05],"end_effector_yaw_offset_degrees":-0.8452718622265736}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004567538832573905,-0.004105010134739916],"position_m":[0.1990324611674261,-0.04990501013473991,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002685377686759624,0.002943974138450332],"position_m":[0.23506853776867598,-0.36065602586154966,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004095428844781412,-0.004961816068473384],"position_m":[0.17339542884478143,0.22513818393152663,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00470331946591126,0.0029669733025878007],"position_m":[0.32909668053408875,0.1206669733025878,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"759ad6a22b1ec73b3ed901e5af7378f157736e69a0dcdb1bb09b866a33559cdf","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9981/tex_ceiling_textures_3089/tex_floor_textures_7122/tex_table_textures_5314/tex_wall_textures_7650","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8112975296379415090,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8112975296379415090,"visual_seed":8112975296379415090,"scene_id":"lab_003","finished_at":"2026-09-04T09:56:11"}
+{"episode_id":"ep_000080","started_at":"2026-09-04T09:56:14","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[-0.5441853771742342,-2.3831625449820875,0.71338606911949],"aabb_xy":[[-0.581685377346106,-2.415863280364994],[-0.5066853770023622,-2.35046180959918]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[-0.4434783560938586,-0.21298774586096902,0.71338606911949],"aabb_xy":[[-0.4508908116352471,-0.21883895628259697],[-0.43606590055247013,-0.20713653543934107]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.15669306674739936,-1.2093128343615955,0.71338606911949],"aabb_xy":[[-0.16310688039058427,-1.2157226546092637],[-0.1502792531042144,-1.202903014113927]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[-0.15104688309082392,0.8733554882705437,0.71338606911949],"aabb_xy":[[-0.21504688037647254,0.8318487693176998],[-0.08704688580517525,0.9148622072233877]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.43503970969850814,-1.560929791805903,0.71338606911949],"aabb_xy":[[0.403892790854925,-1.63092979049271],[0.46618662854209125,-1.4909297931190957]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[-0.6748120552949195,-1.0819330181121956,0.71338606911949],"aabb_xy":[[-0.6825152459689965,-1.0896423888109334],[-0.6671088646208425,-1.0742236474134572]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.03260070854499364,-2.0215637533344153,0.71338606911949],"aabb_xy":[[0.015169993465987129,-2.0388358679982654],[0.05003142362400014,-2.0042916386705643]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.4956015783878658,-1.004059662386071,0.71338606911949],"aabb_xy":[[0.48797731029768754,-1.0116928859226146],[0.503225846478044,-0.9964264388495272]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.355472824643124,-2.424025536057945,0.71338606911949],"aabb_xy":[[-0.39006390749716924,-2.4890255363429756],[-0.3208817417890788,-2.3590255357729135]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.19157673750466142,1.2480408675763854,0.71338606911949],"aabb_xy":[[0.17403004258854246,1.2105408660121342],[0.20912343242078033,1.2855408691406367]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.18813443800731344,-0.825840015586293,0.71338606911949],"aabb_xy":[[-0.24310816004364633,-0.8808400151505263],[-0.13316071597098056,-0.77084001602206]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[-0.26569459036798293,0.6540195699579057,0.71338606911949],"aabb_xy":[[-0.32969459064196116,0.6039534697606177],[-0.2016945900940047,0.7040856701551936]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.009397725731981721,-2.5025789151443867,0.71338606911949],"aabb_xy":[[-0.08939772899599485,-2.5161389474533],[0.07060227753203141,-2.4890188828354733]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.47323275748786486,-1.2939589712068211,0.71338606911949],"aabb_xy":[[-0.5107327581524435,-1.3096460292070433],[-0.43573275682328605,-1.278271913206599]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.5680375562657036,1.74708513202838,0.71338606911949],"aabb_xy":[[-0.5760638268963296,1.7383336370510274],[-0.5600112856350776,1.7558366270057326]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.14609698230428902,-1.9270086633823733,0.71338606911949],"aabb_xy":[[0.096101971344837,-1.9770086624179655],[0.19609199326374108,-1.877008664346782]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.025341489749863055,1.7607754726772131,0.71338606911949],"aabb_xy":[[-0.06125499417485274,1.7248619644604586],[0.010572014675126626,1.7966889808939677]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[-0.5996442955849722,-0.1386516395350843,0.71338606911949],"aabb_xy":[[-0.6197027071982126,-0.15871672644424184],[-0.579585883971732,-0.11858655262592677]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.3102557482835582,-1.2818056125678727,0.71338606911949],"aabb_xy":[[0.2727557498601578,-1.2949698265357033],[0.3477557467069585,-1.2686413986000418]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.19691063236937673,-0.5834933588933544,0.71338606911949],"aabb_xy":[[-0.21908315934602754,-0.6056690260494775],[-0.17473810539272588,-0.5613176917372311]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[0.3169264063563493,0.6106391578160681,0.71338606911949],"aabb_xy":[[0.30001567392000744,0.5971669522234536],[0.333837138792691,0.6241113634086827]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.6227330420136632,-2.0260088583770193,0.71338606911949],"aabb_xy":[[0.5981868263909125,-2.0562577549260563],[0.6472792576364139,-1.9957599618279824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646227331955887,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2698.png","name":"2698"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2698.png","name":"2698"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9373.png","name":"9373"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4308.png","name":"4308"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8904.png","name":"8904"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2732.png","name":"2732"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":576.230896085654,"rotation_z_degrees":209.02850851636282,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018139261889080074,-0.0061059331441479445,0.012853784505817204]},{"name":"camera_2","offset_m":[0.01411256642017342,-0.011504218637739805,0.002803297956346845]},{"name":"camera_3","offset_m":[1.547305493562745e-05,-0.003793093790569465,-0.010796692348067577]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017356350888390218,-0.001557546882017971,-0.0014951789156797887],"end_effector_yaw_offset_degrees":-0.42272173425107407},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007998083052915619,0.0005035342430190427,-0.0005849990124234003],"end_effector_yaw_offset_degrees":-0.5260147290731148},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016480863287671923,-0.00012425327252512156,-0.0011211647346799497],"end_effector_yaw_offset_degrees":0.5846943362369428}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018702733668181535,-0.004671114243122098],"position_m":[0.20547027336681817,-0.050471114243122096,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009306830753380716,0.003786523605115745],"position_m":[0.2357306830753381,-0.35981347639488426,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0037875543585627553,-0.004663024045452359],"position_m":[0.17308755435856277,0.22543697595454765,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002342144667235513,0.0019816459295676136],"position_m":[0.33145785533276445,0.1196816459295676,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"52a5b298f7e4ff7affbb93ca69ace4f172ad54ecd134380005f0932a8042b3e2","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2698/tex_ceiling_textures_2732/tex_floor_textures_8904/tex_table_textures_9373/tex_wall_textures_4308","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2285589639052872782,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2285589639052872782,"visual_seed":2285589639052872782,"scene_id":"lab_003","finished_at":"2026-09-04T09:59:08"}
+{"episode_id":"ep_000081","started_at":"2026-09-04T09:59:13","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[0.333366662752814,-1.1082942629905508,0.71338606911949],"aabb_xy":[[0.32279918309471495,-1.1188392931035593],[0.34393414241091297,-1.0977492328775422]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.28441583684090055,0.5982356933393707,0.71338606911949],"aabb_xy":[[0.22678536795362964,0.5382356944126598],[0.34204630572817135,0.658235692266081]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.2559466000966466,-2.041472227941733,0.71338606911949],"aabb_xy":[[0.20095434946113566,-2.096472229685046],[0.31093885073215755,-1.9864722261984205]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[-0.2523546698451635,-1.5797006390432056,0.71338606911949],"aabb_xy":[[-0.2652265733461036,-1.6597006394570415],[-0.23948276634422336,-1.4997006386293692]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[-0.06703246029190346,-2.121800474608876,0.71338606911949],"aabb_xy":[[-0.13103246055237425,-2.1668092739618037],[-0.0030324600314326484,-2.0767916752559477]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.5669875038339669,-0.5203081966363343,0.71338606911949],"aabb_xy":[[0.555742448263349,-0.5315499943604296],[0.5782325594045846,-0.509066398912239]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[0.6222127744550352,1.2186234244862573,0.71338606911949],"aabb_xy":[[0.599699082631578,1.1486234238852495],[0.6447264662784924,1.2886234250872646]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[-0.3534664110029882,-0.04177634043036216,0.71338606911949],"aabb_xy":[[-0.36288388557285095,-0.051192517568081186],[-0.34404893643312545,-0.03236016329264313]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.4042966135416894,0.31221855110235675,0.71338606911949],"aabb_xy":[[-0.4692966114233373,0.26109488739581593],[-0.33929661566004166,0.36334221480889767]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.24382410119427722,-0.3611677406396874,0.71338606911949],"aabb_xy":[[-0.2762858020762046,-0.39130057275458996],[-0.21136240031234974,-0.3310349085247847]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.07321195034045991,-0.852239888536656,0.71338606911949],"aabb_xy":[[0.038211950363964076,-0.8617045045842725],[0.10821195031695574,-0.8427752724890393]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[0.34097263775217246,1.6095207627340309,0.71338606911949],"aabb_xy":[[0.3365420083973323,1.6040723909993486],[0.34540326710701263,1.6149691344687136]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[0.061012947925725536,1.5923579018011815,0.71338606911949],"aabb_xy":[[0.04841024878864908,1.5797625055763163],[0.07361564706280199,1.6049532980260472]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[0.12965665849403618,0.5975915920346657,0.71338606911949],"aabb_xy":[[0.10748413151738534,0.5754159248785425],[0.15182918547068702,0.6197672591907889]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.25099051010097084,0.748451355689582,0.71338606911949],"aabb_xy":[[-0.2759905092666039,0.7414991099842253],[-0.22599051093533767,0.7554036013949385]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.35246353837577693,-1.3539422976902082,0.71338606911949],"aabb_xy":[[-0.4164635375455469,-1.400708984809171],[-0.288463539206007,-1.307175610571246]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.42531957163935763,0.6395981569113065,0.71338606911949],"aabb_xy":[[0.41890575799617263,0.633188336663638],[0.4317333852825425,0.6460079771589747]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[-0.320172890998655,-2.3575102565028336,0.71338606911949],"aabb_xy":[[-0.3505710020977985,-2.3879171585045027],[-0.28977477989951134,-2.3271033545011637]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[0.24859714378746323,0.8426912305454941,0.71338606911949],"aabb_xy":[[0.18359714268151991,0.8177258574773657],[0.3135971448934065,0.8676566036136223]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.07086382063700802,1.6739691634120226,0.71338606911949],"aabb_xy":[[-0.13486381793935442,1.6296027364441659],[-0.006863823334661623,1.7183355903798794]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.023838577236667158,0.1387738212272449,0.71338606911949],"aabb_xy":[[-0.03183256581437055,0.13077374113215456],[-0.015844588658963762,0.14677390132233525]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.30890966489724414,0.986147486964283,0.71338606911949],"aabb_xy":[[-0.35418827977839346,0.9221474876160994],[-0.26363105001609494,1.0501474863124667]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[0.24156025405439285,-0.7743951732632082,0.71338606911949],"aabb_xy":[[0.20406025253876114,-0.7856219462793532],[0.27906025557002456,-0.7631684002470631]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[0.25817328108835313,-1.6755580216709047,0.71338606911949],"aabb_xy":[[0.2081890453801759,-1.7255580204844005],[0.30815751679653036,-1.6255580228574094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638436052320063,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9271.png","name":"9271"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9271.png","name":"9271"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8753.png","name":"8753"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4169.png","name":"4169"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/910.png","name":"910"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3880.png","name":"3880"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":562.838923321378,"rotation_z_degrees":2.210746046381562,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0189835699044403,-0.01323212282681704,0.0028798546027687423]},{"name":"camera_2","offset_m":[0.0077504996853772,0.019042824887305566,0.0059864252851877485]},{"name":"camera_3","offset_m":[-0.019436720691436107,-0.017878857250898373,-0.018605627492660516]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009017457433292239,0.0008453736380756287,-0.0013184994869389652],"end_effector_yaw_offset_degrees":0.04457354003123082},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00032757861278867747,-0.000897122008692425,-0.0006812050527901694],"end_effector_yaw_offset_degrees":-0.4692373317178453},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000615056510971523,0.0013976558657110604,0.0009529825971965116],"end_effector_yaw_offset_degrees":-0.9170433428510114}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003059788688250446,0.002904539666298423],"position_m":[0.20665978868825044,-0.04289546033370158,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014132703390321954,0.0015989726512627925],"position_m":[0.23338672966096782,-0.3620010273487372,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003232421361925533,-0.0015348864010382114],"position_m":[0.17253242136192554,0.22856511359896178,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002727628845082224,0.000951753827759607],"position_m":[0.3310723711549178,0.11865175382775961,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f7f8dc9f7cad6f17e60fbd7ae0b7a14ed9e2ae829fde2b9f4dd59da3a6e90031","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9271/tex_ceiling_textures_3880/tex_floor_textures_910/tex_table_textures_8753/tex_wall_textures_4169","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2070177053588120270,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2070177053588120270,"visual_seed":2070177053588120270,"scene_id":"lab_003","finished_at":"2026-09-04T10:01:58"}
+{"episode_id":"ep_000082","started_at":"2026-09-04T10:02:01","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[0.4545149012006682,0.5471536700601316,0.71338606911949],"aabb_xy":[[0.4370841861216616,0.5298815553962807],[0.47194561627967463,0.5644257847239823]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.513948679492941,-2.3877074143048174,0.71338606911949],"aabb_xy":[[-0.5248544555805038,-2.4677074107036465],[-0.5030429034053784,-2.307707417905988]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[0.5886515876343037,1.3260096839646187,0.71338606911949],"aabb_xy":[[0.5476336442479328,1.2760096833336614],[0.6296695310206746,1.376009684595576]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[-0.38682823147507456,-0.7507485091023804,0.71338606911949],"aabb_xy":[[-0.4179751503186577,-0.8207485077891875],[-0.35568131263149144,-0.6807485104155732]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.06950186046698814,1.7756548744275098,0.71338606911949],"aabb_xy":[[0.04700186022347275,1.7634502397677378],[0.09200186071050354,1.7878595090872818]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[0.134813338599712,1.6466695898754105,0.71338606911949],"aabb_xy":[[0.10981333866719412,1.6397869216544874],[0.1598133385322299,1.653552258096334]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.5927199385400901,1.7015360752480952,0.71338606911949],"aabb_xy":[[0.5027199348631718,1.6401036686709907],[0.6827199422170082,1.7629684818251994]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.5609043584762659,0.026349119367950813,0.71338606911949],"aabb_xy":[[0.5433260562873191,0.008774629793845912],[0.5784826606652128,0.043923608942055714]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.024430634550401176,1.4638753526422597,0.71338606911949],"aabb_xy":[[-0.08443063541121397,1.412448922635773],[0.035569366310411625,1.5153017826487458]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.31386408033183977,-2.3784004838455473,0.71338606911949],"aabb_xy":[[0.3097859224247901,-2.3824814640938112],[0.31794223823888956,-2.374319503597284]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[0.36303605255245874,-1.1533251571965608,0.71338606911949],"aabb_xy":[[0.32600194312439895,-1.18770236453027],[0.4000701619805184,-1.1189479498628512]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.2881999347147574,-2.317158803676709,0.71338606911949],"aabb_xy":[[-0.3381787432250733,-2.3671588036824276],[-0.23822112620444152,-2.26715880367099]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.6914044851244596,-2.5617897192927894,0.71338606911949],"aabb_xy":[[0.6743024071660915,-2.578896524824059],[0.7085065630828278,-2.5446829137615197]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.5529954778690498,0.3183049634726638,0.71338606911949],"aabb_xy":[[0.515495477204471,0.3026179054724415],[0.5904954785336284,0.33399202147288587]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.6018758392216985,-1.6089390046049858,0.71338606911949],"aabb_xy":[[-0.6237655868106392,-1.698939001894235],[-0.5799860916327576,-1.5189390073157367]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.22987324850564345,-2.136466212244837,0.71338606911949],"aabb_xy":[[-0.23331392474570065,-2.1403276452192013],[-0.2264325722655863,-2.1326047792704723]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.17509244339520047,-1.8633457806138267,0.71338606911949],"aabb_xy":[[-0.23909244069754684,-1.9077122075816835],[-0.11109244609285404,-1.81897935364597]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[0.6436107713696908,-0.892303968119367,0.71338606911949],"aabb_xy":[[0.6259351407810924,-0.9099841843987697],[0.661286401958289,-0.8746237518399642]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[0.6389148491024292,-0.2696244523032938,0.71338606911949],"aabb_xy":[[0.617636840958957,-0.33462445462936685],[0.6601928572459015,-0.20462444997722073]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.33540680947070184,0.4535437769929942,0.71338606911949],"aabb_xy":[[-0.3729068096425738,0.42084304161008695],[-0.2979068092988299,0.4862445123759013]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[0.013568057224593977,-1.4947395366860485,0.71338606911949],"aabb_xy":[[-0.001594815752343106,-1.5099049939811673],[0.028730930201531064,-1.4795740793909296]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638289432816964,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3647.png","name":"3647"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3647.png","name":"3647"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9043.png","name":"9043"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2453.png","name":"2453"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8575.png","name":"8575"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2333.png","name":"2333"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":690.4929885103709,"rotation_z_degrees":8.033420488270512,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01658888724844073,-0.007761210610213939,-0.01013107565367181]},{"name":"camera_2","offset_m":[0.011369213004219076,0.016128034268348457,-0.003779896263477668]},{"name":"camera_3","offset_m":[0.004365469261067411,0.01111553091596048,0.007979763300816053]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004639180590213206,-0.001608457152270156,0.0006932182197806952],"end_effector_yaw_offset_degrees":-0.6084898367630824},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000887318934512475,-0.0003221347294312107,0.001812892722961547],"end_effector_yaw_offset_degrees":-0.3866149718537435},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008912232916801176,0.001920499736685081,-0.00022175019579096975],"end_effector_yaw_offset_degrees":-0.853763643222802}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029829328965426437,-0.002895388104596277],"position_m":[0.20061706710345736,-0.048695388104596275,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004263662388095951,-0.002718568237927319],"position_m":[0.23053633761190406,-0.3663185682379273,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001908029434588664,0.0023919414905955606],"position_m":[0.16739197056541133,0.23249194149059557,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003320062630611507,-0.00185187089211179],"position_m":[0.33047993736938847,0.1158481291078882,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8f6ea18d2808907c5cfad943b0001145b5f6f9e78dcc6dc517b4324835916df1","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3647/tex_ceiling_textures_2333/tex_floor_textures_8575/tex_table_textures_9043/tex_wall_textures_2453","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6054687639396247985,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6054687639396247985,"visual_seed":6054687639396247985,"scene_id":"lab_003","finished_at":"2026-09-04T10:04:39"}
+{"episode_id":"ep_000083","started_at":"2026-09-04T10:04:43","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[-0.18346744869870868,-1.9350422143149013,0.71338606911949],"aabb_xy":[[-0.22874606357985794,-1.999042213663085],[-0.13818883381755942,-1.8710422149667176]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[0.11157786401419012,-0.8731083217336431,0.71338606911949],"aabb_xy":[[0.1076639908187676,-0.8818573371401998],[0.11549173720961264,-0.8643593063270861]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[-0.264799585045595,0.5251245649358607,0.71338606911949],"aabb_xy":[[-0.32479958590640773,0.4736981349293741],[-0.20479958418478214,0.5765509949423469]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[0.6111443945682686,0.8642098666527778,0.71338606911949],"aabb_xy":[[0.5934687639796702,0.8465296503733749],[0.6288200251568669,0.8818900829321804]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[0.5421442019299874,-2.1281784039777563,0.71338606911949],"aabb_xy":[[0.5046442018243943,-2.1350005658307376],[0.5796442020355802,-2.121356242124775]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.10375910635125662,-1.8410067556449614,0.71338606911949],"aabb_xy":[[0.08596559941634017,-1.858806501240759],[0.12155261328617305,-1.8232070100491637]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.42852746788688845,-0.5871734888907385,0.71338606911949],"aabb_xy":[[0.39406512048874653,-0.6216673712885611],[0.46298981528503014,-0.5526796064929157]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.5818899618288693,0.522785496185814,0.71338606911949],"aabb_xy":[[-0.6458899650475072,0.4760623842868057],[-0.5178899586102315,0.5695086080848224]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.2539823852979264,-1.6751204467663106,0.71338606911949],"aabb_xy":[[-0.2764823853080747,-1.6892166664059136],[-0.2314823852877781,-1.661024227126707]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.3357543617383312,-0.8989077505037191,0.71338606911949],"aabb_xy":[[0.32849311416792376,-0.9116947607672287],[0.3430156093087386,-0.8861207402402097]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.5721617232038132,-0.9149835789812106,0.71338606911949],"aabb_xy":[[0.5661247102031486,-0.921010280050159],[0.578198736204478,-0.9089568779122625]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.07268290631622376,1.0438107255040734,0.71338606911949],"aabb_xy":[[-0.08210038088608651,1.0343945483663541],[-0.06326543174636101,1.0532269026417922]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[-0.11222379417269923,-2.1351197519957332,0.71338606911949],"aabb_xy":[[-0.12185543039312885,-2.1447570647754417],[-0.10259215795226961,-2.125482439216024]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[0.6580794922435433,-1.5157884364045067,0.71338606911949],"aabb_xy":[[0.6454527049563469,-1.5253345101060796],[0.6707062795307396,-1.5062423627029338]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[-0.46727758473270686,-2.368724252377114,0.71338606911949],"aabb_xy":[[-0.5312775820350533,-2.4130906793449705],[-0.4032775874303604,-2.324357825409257]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[-0.19320113209916023,-1.1019750281891905,0.71338606911949],"aabb_xy":[[-0.19727929000620997,-1.1060560084374538],[-0.1891229741921105,-1.0978940479409272]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[0.6344698886353577,-1.8271406508558654,0.71338606911949],"aabb_xy":[[0.5844924717701039,-1.8771406523451137],[0.6844473055006111,-1.7771406493666166]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[0.250972240229522,0.8662075070837525,0.71338606911949],"aabb_xy":[[0.23940325948258545,0.8412075069668209],[0.2625412209764586,0.8912075072006843]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.191264798523898,-2.518450909052403,0.71338606911949],"aabb_xy":[[-0.22876479846766437,-2.52674399908724],[-0.15376479858013156,-2.5101578190175666]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.16171631989316526,0.18037989240450347,0.71338606911949],"aabb_xy":[[-0.2167163195149111,0.12539619961703075],[-0.10671632027141942,0.2353635851919762]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[0.5517525908269512,-0.7713487214354697,0.71338606911949],"aabb_xy":[[0.5017525895431111,-0.8213275758260917],[0.601752592110791,-0.7213698670448475]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[-0.3117293728859113,1.7454255592797652,0.71338606911949],"aabb_xy":[[-0.3306137566544215,1.7265396344994124],[-0.2928449891174011,1.764311484060118]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[-0.5048315661113384,-1.5388494836202598,0.71338606911949],"aabb_xy":[[-0.5383107333723793,-1.5723285969913667],[-0.47135239885029745,-1.5053703702491528]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[-0.3329846006008509,-1.1866483978294542,0.71338606911949],"aabb_xy":[[-0.3969846028212579,-1.2310214819547425],[-0.26898459838044386,-1.142275313704166]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[-0.6587865594030875,-1.6462813474575602,0.71338606911949],"aabb_xy":[[-0.6637425795879688,-1.6687813476596822],[-0.6538305392182064,-1.623781347255439]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_25","position":[-0.6506837122728247,-1.413365323668027,0.71338606911949],"aabb_xy":[[-0.6614566861941925,-1.4483653218870662],[-0.639910738351457,-1.3783653254489883]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_26","position":[0.5193710457896394,0.2828404185712543,0.71338606911949],"aabb_xy":[[0.48252049785265183,0.24534041774822057],[0.556221593726627,0.32034041939428803]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_27","position":[0.34040078931343287,-1.4548533104806587,0.71338606911949],"aabb_xy":[[0.2909203680994741,-1.5188533083935105],[0.38988121052739166,-1.3908533125678069]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_28","position":[-0.32446877561237586,-0.23871187713827124,0.71338606911949],"aabb_xy":[[-0.3744517257998551,-0.2887118767808316],[-0.2744858254248964,-0.1887118774957108]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_29","position":[0.239481703331189,1.13077162881343,0.71338606911949],"aabb_xy":[[0.21496807923418318,1.1065070355113937],[0.26399532742819487,1.1550362221154666]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_30","position":[-0.49124317574130827,-1.8454265846815971,0.71338606911949],"aabb_xy":[[-0.5137431755552107,-1.8499012010520781],[-0.46874317592740583,-1.8409519683111166]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_31","position":[0.3468377114715473,-1.9387609978397227,0.71338606911949],"aabb_xy":[[0.32325258800765244,-2.0037610000851545],[0.37042283493544215,-1.8737609955942909]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666496495997639,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8286.png","name":"8286"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8286.png","name":"8286"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1397.png","name":"1397"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8128.png","name":"8128"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9800.png","name":"9800"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1465.png","name":"1465"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":833.7535340886654,"rotation_z_degrees":22.0435382179365,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01915970223671527,0.004382010394342679,0.012384694679460479]},{"name":"camera_2","offset_m":[0.013249243186570347,-0.017922362787094137,-0.008802763223027307]},{"name":"camera_3","offset_m":[-0.010533547478408383,-0.018109024199744618,0.018795220524119884]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015657307408264184,0.0010288012138452013,-7.083855414641207e-05],"end_effector_yaw_offset_degrees":0.4224097035425576},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011748833793316714,-0.0017862775877453153,0.00012527328612032661],"end_effector_yaw_offset_degrees":-0.5711386974343087},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001864217124474027,0.00046203425654779,-0.0016207953562033459],"end_effector_yaw_offset_degrees":0.539750983873887}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00193837913090692,0.0007622755010950714],"position_m":[0.2016616208690931,-0.04503772449890493,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011122745909554269,0.00033551811220416516],"position_m":[0.23591227459095543,-0.3632644818877958,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028527867775004602,-0.004447429428789098],"position_m":[0.16644721322249956,0.2256525705712109,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002156600925090728,-0.004452549638735235],"position_m":[0.3359566009250907,0.11324745036126477,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1b0bd498a6f11e7a92f25add859801cd0c3e2010721b933a6849d808c5be4a43","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0083.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8286/tex_ceiling_textures_1465/tex_floor_textures_9800/tex_table_textures_1397/tex_wall_textures_8128","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2426358643746633779,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2426358643746633779,"visual_seed":2426358643746633779,"scene_id":"lab_003","finished_at":"2026-09-04T10:07:25"}
+{"episode_id":"ep_000084","started_at":"2026-09-04T10:07:29","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[-0.46936080651453305,-0.467915947044069,0.71338606911949],"aabb_xy":[[-0.49769051646307333,-0.4723766892377861],[-0.4410310965659929,-0.46345520485035197]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.6153065355719567,0.7148584077218647,0.71338606911949],"aabb_xy":[[-0.6190097969010955,0.7111563894131467],[-0.6116032742428177,0.7185604260305825]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[-0.44392308181723766,-1.7635354444359428,0.71338606911949],"aabb_xy":[[-0.4547635600437525,-1.7807217257265915],[-0.4330826035907227,-1.746349163145294]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.646851647737992,-2.1692808460435034,0.71338606911949],"aabb_xy":[[0.6298415504479413,-2.1854153345417773],[0.6638617450280426,-2.1531463575452294]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[0.6377177220216519,0.6969202516016972,0.71338606911949],"aabb_xy":[[0.6342770457815947,0.6930588186273329],[0.6411583982617091,0.7007816845760618]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[-0.21969305611094508,-0.45300786122073866,0.71338606911949],"aabb_xy":[[-0.2571930564591728,-0.46479925680182216],[-0.1821930557627173,-0.44121646563965505]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[-0.3236705924273119,1.0734449357939342,0.71338606911949],"aabb_xy":[[-0.3437290040405521,1.0533798488847768],[-0.30361218081407154,1.0935100227030916]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[0.6617025815288482,1.0795349658151379,0.71338606911949],"aabb_xy":[[0.6117025802450081,1.0295561114245158],[0.7117025828126881,1.12951382020576]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[0.3725815049046943,0.3856214040176602,0.71338606911949],"aabb_xy":[[0.3175892542691834,0.33062140227434744],[0.4275737555402053,0.44062140576097303]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[-0.2099285175641435,1.6816001682388033,0.71338606911949],"aabb_xy":[[-0.259905934429397,1.6316001667495545],[-0.15995110069888985,1.7316001697280516]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.14595670531173544,0.4768421737259487,0.71338606911949],"aabb_xy":[[-0.20995670173905734,0.42967254990385234],[-0.08195670888441353,0.5240117975480452]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[0.34942183816516836,-1.490095781807334,0.71338606911949],"aabb_xy":[[0.3413784782392132,-1.5750957829027004],[0.35746519809112354,-1.4050957807119675]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.1512374311975394,1.3792536080536761,0.71338606911949],"aabb_xy":[[-0.18623743117403524,1.3697889920060595],[-0.11623743122104357,1.3887182241012928]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.6668557213957595,-0.5409598332848158,0.71338606911949],"aabb_xy":[[0.6168714856875823,-0.5909598320983114],[0.7168399571039368,-0.4909598344713202]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[0.5828014960412569,1.260460790738641,0.71338606911949],"aabb_xy":[[0.5676386230643199,1.2452953334435222],[0.597964369018194,1.2756262480337597]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[0.22483200976757034,-1.296730691544654,0.71338606911949],"aabb_xy":[[0.16720154088029945,-1.356730690471364],[0.28246247865484114,-1.2367306926179429]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[0.3520335379212576,1.8015873051183493,0.71338606911949],"aabb_xy":[[0.343319568871323,1.7790873044591609],[0.36074750697119196,1.8240873057775373]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[0.28457100176717987,0.531565001755693,0.71338606911949],"aabb_xy":[[0.27815718812399487,0.5251551815080246],[0.29098481541036475,0.5379748220033613]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[0.04494029641324526,0.6844795131247312,0.71338606911949],"aabb_xy":[[0.011461129152204333,0.6510003997536243],[0.0784194636742862,0.7179586264958383]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[-0.0797365250782055,-0.7750099877494445,0.71338606911949],"aabb_xy":[[-0.1597365224817989,-0.8550025589476273],[0.0002634723253879256,-0.6950174165512617]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.663353413478613,-1.9169215806494342,0.71338606911949],"aabb_xy":[[0.6133534148326919,-1.9668411243088966],[0.7133534121245343,-1.8670020369899718]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[-0.4645661497565452,-2.274905223303171,0.71338606911949],"aabb_xy":[[-0.5196913553861359,-2.334905224744458],[-0.40944094412695436,-2.214905221861884]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[0.5803699135902614,-0.07215303228230674,0.71338606911949],"aabb_xy":[[0.5726667229161844,-0.07986240298104474],[0.5880731042643383,-0.06444366158356873]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[-0.10017220503774926,1.1728552986844734,0.71338606911949],"aabb_xy":[[-0.10958967960761201,1.1634391215467543],[-0.09075473046788651,1.1822714758221924]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[0.0015222188506308632,1.5599651847154559,0.71338606911949],"aabb_xy":[[-0.02887589224851272,1.5295582827137861],[0.031920329949774444,1.5903720867171252]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641078503558656,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9044.png","name":"9044"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9044.png","name":"9044"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3749.png","name":"3749"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2701.png","name":"2701"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1495.png","name":"1495"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6868.png","name":"6868"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":674.3340758730762,"rotation_z_degrees":275.6544945361545,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006085412764360577,0.008067686275806115,0.010888275961880495]},{"name":"camera_2","offset_m":[-0.011655414018191547,-0.012301997108197908,-0.019025576439908504]},{"name":"camera_3","offset_m":[-0.008717127567880607,0.0029587007064116114,-0.016680265397641256]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00010158016175383644,-0.0006574630808676325,-0.0009362797292404874],"end_effector_yaw_offset_degrees":0.7259637120029525},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009012533492691009,0.0011239607367855876,-0.00027786613861994786],"end_effector_yaw_offset_degrees":0.19702096346285614},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018012378245767593,0.0010314082620936425,-0.0010659666114758229],"end_effector_yaw_offset_degrees":0.8573990975418806}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034168852245886816,0.0015805077076431195],"position_m":[0.2001831147754113,-0.04421949229235688,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023229449088255283,-0.0002779612133884694],"position_m":[0.23247705509117447,-0.36387796121338845,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00404536879848691,-0.004660791527263994],"position_m":[0.17334536879848692,0.22543920847273602,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036200932898127567,0.004464608946738373],"position_m":[0.3301799067101872,0.12216460894673838,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a9d39ac02ab62e9d0de8fbdaf40e3935a3e0453b03fd2b34e9e5e026a06499b5","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0084.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9044/tex_ceiling_textures_6868/tex_floor_textures_1495/tex_table_textures_3749/tex_wall_textures_2701","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8582371027499337864,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8582371027499337864,"visual_seed":8582371027499337864,"scene_id":"lab_003","finished_at":"2026-09-04T10:10:09"}
+{"episode_id":"ep_000085","started_at":"2026-09-04T10:10:12","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.3862909661848859,-1.4594706198884613,0.71338606911949],"aabb_xy":[[0.3719565410587224,-1.4715308354430001],[0.4006253913110493,-1.4474104043339224]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[0.4582990844577899,1.2147964373671987,0.71338606911949],"aabb_xy":[[0.41049291684402117,1.1497964346601395],[0.5061052520715585,1.2797964400742574]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[-0.4602012355251517,-1.539486298833976,0.71338606911949],"aabb_xy":[[-0.5302012371274312,-1.5529190920356337],[-0.39020123392287215,-1.5260535056323186]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.11435932796155923,-2.0027232743043055,0.71338606911949],"aabb_xy":[[0.09685932868347237,-2.0200613743706515],[0.1318593272396461,-1.9853851742379596]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[0.4204262683722846,-0.6290126914630771,0.71338606911949],"aabb_xy":[[0.4077994810850882,-0.6385587651646499],[0.4330530556594809,-0.6194666177615041]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[0.3817030239481858,1.5419849553183549,0.71338606911949],"aabb_xy":[[0.345207203320907,1.5055010128915969],[0.41819884457546447,1.578468897745112]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[-0.32488775362789374,-1.6194403042532026,0.71338606911949],"aabb_xy":[[-0.3598877527578494,-1.625185525328867],[-0.2898877544979381,-1.6136950831775387]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[-0.34322150004847385,0.7296720219466062,0.71338606911949],"aabb_xy":[[-0.41322149645843553,0.7092340862949243],[-0.27322150363851194,0.7501099575982878]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[0.286586294446164,-1.2336952451754444,0.71338606911949],"aabb_xy":[[0.28125377979155103,-1.23901957342068],[0.291918809100777,-1.2283709169302088]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.39538088893780077,-0.9240025777466401,0.71338606911949],"aabb_xy":[[0.3053808903433309,-0.9402531640600612],[0.48538088753227077,-0.9077519914332192]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[-0.3238504311117463,0.47208306759380614,0.71338606911949],"aabb_xy":[[-0.35249976347216244,0.44343750831673023],[-0.29520109875133,0.5007286268708818]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[0.5093514179756773,-1.5334094894879533,0.71338606911949],"aabb_xy":[[0.4593726094653614,-1.5834094894936719],[0.5593302264859932,-1.4834094894822343]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.20281242468545851,-1.0912923770134082,0.71338606911949],"aabb_xy":[[-0.25281242604634574,-1.1412702815888236],[-0.15281242332457132,-1.0413144724379924]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.006322987811770653,1.1669644678255366,0.71338606911949],"aabb_xy":[[-0.041952143711730394,1.1313318010686837],[0.02930616808818909,1.2025971345823896]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.47908945714739426,-2.120280873451074,0.71338606911949],"aabb_xy":[[0.4565894569038789,-2.1324855081108463],[0.5015894573909097,-2.1080762387913023]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.39751814324387286,1.2907366378933758,0.71338606911949],"aabb_xy":[[-0.4515337395257728,1.2267366350011184],[-0.3435025469619728,1.3547366407856327]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[0.6776912758179972,-1.8207828908040227,0.71338606911949],"aabb_xy":[[0.6401912755258223,-1.8248243662046264],[0.715191276110172,-1.8167414154034194]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.27661690905020486,-2.4722768210262642,0.71338606911949],"aabb_xy":[[-0.35661690645379823,-2.5522693922244466],[-0.1966169116466114,-2.392284249828081]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.3445178134751419,-2.021010806809941,0.71338606911949],"aabb_xy":[[-0.42951781189256505,-2.1058851022722265],[-0.2595178150577186,-1.9361365113476565]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[0.2536079805818773,-0.619871354905428,0.71338606911949],"aabb_xy":[[0.1986342585455444,-0.6748713544696613],[0.30858170261821016,-0.5648713553411949]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.32812125411132764,0.9898830424079641,0.71338606911949],"aabb_xy":[[-0.3340877930520634,0.9839218977486],[-0.3221547151705918,0.995844187067328]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.5656990803671338,-2.2679391911665396,0.71338606911949],"aabb_xy":[[0.5576728097365078,-2.2766906861438923],[0.5737253509977598,-2.259187696189187]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641395908262332,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5011.png","name":"5011"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5011.png","name":"5011"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/152.png","name":"152"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9455.png","name":"9455"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6201.png","name":"6201"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6469.png","name":"6469"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":510.10452589695313,"rotation_z_degrees":82.11280846964064,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014691016123996455,0.017900983572088223,-0.004819622551804561]},{"name":"camera_2","offset_m":[0.001671900239948107,-0.017622088538768194,0.0024476952463042406]},{"name":"camera_3","offset_m":[0.015011953113894663,-0.0011918606070362922,0.017400958808503602]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014874856716039933,-0.001451254279849596,-0.0014546415225071864],"end_effector_yaw_offset_degrees":-0.5057736639530133},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019986462716836666,-0.0018631300631074025,0.0018194632402933212],"end_effector_yaw_offset_degrees":0.651789028347185},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016581696356833607,0.0008335221869565108,-0.0007799499248410747],"end_effector_yaw_offset_degrees":-0.8135588260537909}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0023405145056145825,0.0008566175444972733],"position_m":[0.2059405145056146,-0.04494338245550273,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009919586386080677,0.004775130266938912],"position_m":[0.23579195863860808,-0.35882486973306105,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002639777321688256,0.0015297069939151668],"position_m":[0.17193977732168828,0.23162970699391516,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000524787838637489,-0.0031117435916989842],"position_m":[0.33432478783863745,0.11458825640830102,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0f2cf3e43450d37829c6f2677b528b7325812ca8fe0db63aa7d21481252cb2dc","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5011/tex_ceiling_textures_6469/tex_floor_textures_6201/tex_table_textures_152/tex_wall_textures_9455","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":963249866758670839,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":963249866758670839,"visual_seed":963249866758670839,"scene_id":"lab_003","finished_at":"2026-09-04T10:12:51"}
+{"episode_id":"ep_000086","started_at":"2026-09-04T10:12:54","dimensions":{"distractor":{"count":25,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.4576415523543743,-0.6580239235615399,0.71338606911949],"aabb_xy":[[-0.48092339455250566,-0.743023924858768],[-0.434359710156243,-0.5730239222643119]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[-0.5138485314384492,0.12125029698309975,0.71338606911949],"aabb_xy":[[-0.5778485347281573,0.07791537797918213],[-0.44984852814874116,0.16458521598701736]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.16981292348014443,1.1741285965258172,0.71338606911949],"aabb_xy":[[-0.1867236559164862,1.1606563909332024],[-0.15290219104380265,1.1876008021184317]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[-0.3000135267805024,-0.678703243278376,0.71338606911949],"aabb_xy":[[-0.3412623378104171,-0.7337032427905932],[-0.2587647157505876,-0.6237032437661583]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[-0.2882679712689803,-1.5028034878284358,0.71338606911949],"aabb_xy":[[-0.2953094222197279,-1.5098302395662302],[-0.2812265203182327,-1.4957767360906409]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.5036725892204439,0.5265963136149705,0.71338606911949],"aabb_xy":[[-0.518835462197381,0.5114308563198517],[-0.4885097162435068,0.5417617709100893]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[-0.04252489697245032,-2.148106646453572,0.71338606911949],"aabb_xy":[[-0.11252489878119576,-2.1694604152177592],[0.027475104836295117,-2.1267528776893845]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[-0.3843219256780428,1.007086878517104,0.71338606911949],"aabb_xy":[[-0.3920251163521198,0.9993775078183659],[-0.3766187350039657,1.014796249215842]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[0.3566849187342904,0.7280584908245014,0.71338606911949],"aabb_xy":[[0.31151360088612146,0.6640584936799631],[0.40185623658245945,0.79205848796904]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[-0.3538575924540214,1.5571341999616615,0.71338606911949],"aabb_xy":[[-0.3884486753080665,1.4921341996766302],[-0.31926650959997604,1.6221342002466923]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.441910585621603,1.0336991016676507,0.71338606911949],"aabb_xy":[[0.3918131216405294,0.9696991011578389],[0.49200804960267663,1.0976991021774625]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.4774144118073804,-1.3256765626725298,0.71338606911949],"aabb_xy":[[0.4599144126730132,-1.3355561897101174],[0.49491441094174754,-1.3157969356349417]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[-0.08472278380853027,-2.3085652116636735,0.71338606911949],"aabb_xy":[[-0.11816295900454984,-2.342008837494603],[-0.05128260861251064,-2.275121585832743]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[0.43439099236277445,-1.1334327857785043,0.71338606911949],"aabb_xy":[[0.4234852162752117,-1.2134327821773334],[0.4452967684503371,-1.053432789379675]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.6109552127207565,-1.5312661904297147,0.71338606911949],"aabb_xy":[[-0.6660804183503471,-1.5912661918710016],[-0.5558300070911656,-1.4712661889884273]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[-0.30543356274190786,-2.135595606514607,0.71338606911949],"aabb_xy":[[-0.34293356291377974,-2.1682963418975136],[-0.26793356257003587,-2.1028948711316993]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.15981426508297547,-0.7255728758841749,0.71338606911949],"aabb_xy":[[0.0798142671021904,-0.7331744168460268],[0.2398142630637605,-0.7179713349223229]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.368541996852562,-0.25816487120166487,0.71338606911949],"aabb_xy":[[-0.3779594714224248,-0.2675810483393839],[-0.3591245222826993,-0.24874869406394584]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[0.3866498431750254,-0.6483910105188895,0.71338606911949],"aabb_xy":[[0.3366567310658335,-0.6983910111930851],[0.4366429552842173,-0.5983910098446938]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.23500955302151605,-0.8956820059004069,0.71338606911949],"aabb_xy":[[0.1850095520709832,-0.9272311529039282],[0.28500955397204886,-0.8641328588968854]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.5052013551776267,-2.1864188396367106,0.71338606911949],"aabb_xy":[[-0.5692013572273585,-2.2265133227260185],[-0.44120135312789455,-2.1463243565474026]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[-0.24442214671926327,-1.7276436231437318,0.71338606911949],"aabb_xy":[[-0.26448055833250356,-1.7477087100528892],[-0.22436373510602298,-1.7075785362345743]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.46282701303854634,-2.3330905712631864,0.71338606911949],"aabb_xy":[[-0.47323857171903,-2.338436304599085],[-0.4524154543580626,-2.327744837927288]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[0.35296932425835714,-2.53701965178433,0.71338606911949],"aabb_xy":[[0.2879693261024381,-2.5633158963342417],[0.4179693224142762,-2.5107234072344173]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[0.4075661671941835,0.46855311596269367,0.71338606911949],"aabb_xy":[[0.3535505709122834,0.40455311307043645],[0.46158176347608343,0.5325531188549508]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6606817253918169,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7055.png","name":"7055"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7055.png","name":"7055"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4006.png","name":"4006"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/262.png","name":"262"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/651.png","name":"651"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7893.png","name":"7893"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":812.6192189183034,"rotation_z_degrees":238.5813712355466,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012579197324950223,-0.008236316882677185,-0.01055550429996993]},{"name":"camera_2","offset_m":[-0.007831607570083809,0.002108220851895458,-0.015293946628419236]},{"name":"camera_3","offset_m":[-0.005553448303195138,0.00846665186155109,0.010009452919176393]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015046052186068397,0.001033897019733976,-0.0008534455871563695],"end_effector_yaw_offset_degrees":-0.8320727922951552},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008138164406059456,-0.0003322996780651044,-0.0018181096930345415],"end_effector_yaw_offset_degrees":-0.40823484715721925},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007456828004968772,0.0017392489290230378,-0.00015389756643357003],"end_effector_yaw_offset_degrees":0.8735187487509088}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034540298774189526,0.0004866724102112795],"position_m":[0.20014597012258106,-0.04531332758978872,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004852997954964511,0.0021127785946850686],"position_m":[0.2299470020450355,-0.3614872214053149,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003942106015220115,0.0015459643389237835],"position_m":[0.1732421060152201,0.2316459643389238,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014834306511887487,0.0045669514344949995],"position_m":[0.33231656934881126,0.122266951434495,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f8fba7485970a6e88f75ad2dbac26e1a4f343a570dc2bf79705cf551b77905c","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7055/tex_ceiling_textures_7893/tex_floor_textures_651/tex_table_textures_4006/tex_wall_textures_262","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4270130051305745797,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4270130051305745797,"visual_seed":4270130051305745797,"scene_id":"lab_003","finished_at":"2026-09-04T10:15:36"}
+{"episode_id":"ep_000087","started_at":"2026-09-04T10:15:40","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[0.08791985578310824,-1.4479880792614657,0.71338606911949],"aabb_xy":[[0.023919859387535172,-1.5119513676801992],[0.1519198521786813,-1.3840247908427321]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[0.0009256234675909525,-0.739702350687135,0.71338606911949],"aabb_xy":[[-0.049058612240586275,-0.7897023495006306],[0.05090985917576818,-0.6897023518736394]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.19604846424838968,-0.49094231970181257,0.71338606911949],"aabb_xy":[[-0.21854846377209702,-0.5134382671524331],[-0.17354846472468222,-0.4684463722511917]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.2845669296678107,-0.1100816236813813,0.71338606911949],"aabb_xy":[[-0.297193716955007,-0.11962769738295419],[-0.2719401423806143,-0.10053554997980839]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.5405820882865239,1.5721304168354862,0.71338606911949],"aabb_xy":[[-0.6005820881330907,1.5153117946424473],[-0.4805820884399571,1.6289490390285246]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[0.32987234667601717,0.5160775855986119,0.71338606911949],"aabb_xy":[[0.31664140114133577,0.5028501665766124],[0.34310329221069835,0.5293050046206113]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.33571695699107806,1.044449995798761,0.71338606911949],"aabb_xy":[[-0.3908421626206688,0.9844499943574737],[-0.28059175136148723,1.1044499972400479]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.2869922476943846,-1.6003190713870463,0.71338606911949],"aabb_xy":[[0.2693166171057862,-1.617999287666449],[0.30466787828298286,-1.5826388551076436]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[0.29773039928447276,-0.6160184350756264,0.71338606911949],"aabb_xy":[[0.23373039858100336,-0.6620368175485475],[0.36173039998794204,-0.5700000526027055]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[-0.5287023996169518,-1.7592419715174694,0.71338606911949],"aabb_xy":[[-0.5787023991932865,-1.8092225504695756],[-0.47870240004061704,-1.7092613925653637]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[0.4340583676445915,1.4199628096108596,0.71338606911949],"aabb_xy":[[0.369058365006798,1.3684832109114127],[0.499058370282385,1.4714424083103066]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.04669554169272405,-2.314264166825047,0.71338606911949],"aabb_xy":[[-0.06275746915124168,-2.3992641686376386],[-0.030633614234206404,-2.229264165012455]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[0.27073475503318134,-1.158503027315504,0.71338606911949],"aabb_xy":[[0.22073475401404608,-1.1949692430533319],[0.3207347560523166,-1.122036811577676]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.05780434480941632,-1.442295784043522,0.71338606911949],"aabb_xy":[[-0.08030076624328042,-1.4647957838502692],[-0.035307923375552226,-1.4197957842367743]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.529947647752145,0.04272493460417204,0.71338606911949],"aabb_xy":[[-0.5364492842601496,0.03295711257786227],[-0.5234460112441404,0.052492756630481814]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.598740291742353,0.9133175893074807,0.71338606911949],"aabb_xy":[[0.5347402914818822,0.8683087899545527],[0.6627402920028238,0.9583263886604088]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[0.3590108516680841,-0.45586305517728265,0.71338606911949],"aabb_xy":[[0.32216030373109655,-0.4933630560003164],[0.3958613996050718,-0.4183630543542489]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.0859300587405627,1.6657509583555066,0.71338606911949],"aabb_xy":[[-0.1033607738195692,1.6484788436916553],[-0.06849934366155618,1.683023073019357]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.14167935937118026,1.440510863096938,0.71338606911949],"aabb_xy":[[0.09668677265272985,1.3955108638224891],[0.18667194608963067,1.4855108623713866]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[0.39527374602924925,-1.6218356174827704,0.71338606911949],"aabb_xy":[[0.3669440360807091,-1.6262963596764874],[0.42360345597778953,-1.6173748752890533]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[-0.45669871371606685,-0.20916656099952702,0.71338606911949],"aabb_xy":[[-0.5018700315642359,-0.2731665581440655],[-0.41152739586789794,-0.14516656385498863]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[-0.27972903525221465,-2.083686092544938,0.71338606911949],"aabb_xy":[[-0.3447290331338625,-2.134809756251479],[-0.21472903737056692,-2.032562428838397]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[0.4677763776922814,1.574574150288289,0.71338606911949],"aabb_xy":[[0.38777638067803344,1.5544395986148778],[0.5477763747065294,1.5947087019617003]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[0.17114147031487636,-0.8948524703764633,0.71338606911949],"aabb_xy":[[0.10714146993734275,-0.9445977372272756],[0.23514147069240998,-0.845107203525651]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[0.4955110814796264,-2.1590371181526886,0.71338606911949],"aabb_xy":[[0.4730119457533994,-2.1815371189309514],[0.5180102172058534,-2.136537117374425]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_25","position":[0.11247576207494003,-1.7924359816973319,0.71338606911949],"aabb_xy":[[0.06719714719379077,-1.8564359810455155],[0.1577543769560893,-1.7284359823491482]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[0.640042589133373,-0.5171710283359059,0.71338606911949],"aabb_xy":[[0.6361287159379505,-0.5259200437424627],[0.6439564623287954,-0.5084220129293491]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[0.24023741939467413,-1.905273516792524,0.71338606911949],"aabb_xy":[[0.215237420229041,-1.9122257624978807],[0.26523741856030725,-1.8983212710871675]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[-0.16317209144947464,-1.936023188067291,0.71338606911949],"aabb_xy":[[-0.17021354240022227,-1.9430499398050856],[-0.15613064049872707,-1.9289964363294962]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_29","position":[-0.19919471672592254,1.07544890656659,0.71338606911949],"aabb_xy":[[-0.2296789668529527,1.025448906785094],[-0.16871046659889238,1.125448906348086]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_30","position":[-0.06610813925137315,0.8424785731253208,0.71338606911949],"aabb_xy":[[-0.08860813926152145,0.8283823534857175],[-0.043608139241224864,0.8565747927649241]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_31","position":[-0.3493817953169828,-1.452681688022586,0.71338606911949],"aabb_xy":[[-0.41338179765978433,-1.4976225392667182],[-0.2853817929741812,-1.4077408367784532]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_32","position":[-0.028655234487028447,1.5191558618243417,0.71338606911949],"aabb_xy":[[-0.08865523473842962,1.4648745367878766],[0.031344765764372735,1.573437186860806]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_33","position":[0.6439285968433008,-2.241590806549063,0.71338606911949],"aabb_xy":[[0.6346349786061503,-2.279090805037197],[0.6532222150804514,-2.204090808060929]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6616021113896202,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9727.png","name":"9727"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9727.png","name":"9727"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6252.png","name":"6252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/465.png","name":"465"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4546.png","name":"4546"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5508.png","name":"5508"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":516.7622602272835,"rotation_z_degrees":83.32427747656787,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00433100007919613,0.009286119393056295,0.002494567064717984]},{"name":"camera_2","offset_m":[0.007090030628982072,-0.011073443702377927,0.015188484267596263]},{"name":"camera_3","offset_m":[-0.0002739132707002545,0.005532155659627752,0.017010717691614694]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[8.699497676954021e-05,-0.0003490455856203947,-0.0018707448994313518],"end_effector_yaw_offset_degrees":0.3940136448794349},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013865758558892082,-0.001145183429170779,0.00039637653414664655],"end_effector_yaw_offset_degrees":0.21812928916239738},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000641996327243811,0.0002493015242367412,-0.00037568286102453597],"end_effector_yaw_offset_degrees":0.08022595028876678}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004919749461941618,0.0003607137544187353],"position_m":[0.19868025053805838,-0.045439286245581266,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004686100501841804,0.0006876411174344902],"position_m":[0.2301138994981582,-0.3629123588825655,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037010124296887005,-0.002318893504100924],"position_m":[0.1655989875703113,0.22778110649589908,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.514150057315403e-05,0.004367030286270556],"position_m":[0.3338751415005731,0.12206703028627056,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5dcfcec733bbc44193da23e19a3b677a542c6e1b84ebd58aadcd195a5cbb7bf0","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9727/tex_ceiling_textures_5508/tex_floor_textures_4546/tex_table_textures_6252/tex_wall_textures_465","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5342269181249625276,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5342269181249625276,"visual_seed":5342269181249625276,"scene_id":"lab_003","finished_at":"2026-09-04T10:18:23"}
+{"episode_id":"ep_000088","started_at":"2026-09-04T10:18:27","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[-0.5736120176778136,0.6957992575589609,0.71338606911949],"aabb_xy":[[-0.6536120209418267,0.6822392252500474],[-0.4936120144138004,0.7093592898678741]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.04829642228668729,0.7323123586737097,0.71338606911949],"aabb_xy":[[-0.06957443043015954,0.6673123563476365],[-0.027018414143215035,0.7973123609997826]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[-0.6167387271286973,1.4790732638923907,0.71338606911949],"aabb_xy":[[-0.6296106306296373,1.3990732634785545],[-0.603866823627757,1.5590732643062268]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.5377432069384629,-1.9399511255013526,0.71338606911949],"aabb_xy":[[0.49246459205731363,-2.0039511248495367],[0.5830218218196122,-1.8759511261531692]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.20875947394235206,-1.721891796812903,0.71338606911949],"aabb_xy":[[-0.24625947251797284,-1.7346280924764608],[-0.17125947536673122,-1.709155501149345]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[-0.08880484911709774,1.0494453072457057,0.71338606911949],"aabb_xy":[[-0.12530066974437648,1.012961364818948],[-0.052309028489818984,1.085929249672463]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.15921102352471306,-1.9543149773701223,0.71338606911949],"aabb_xy":[[-0.16662347906610156,-1.96016618779175],[-0.1517985679833246,-1.948463766948494]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.007880163491894021,-2.0787660013617275,0.71338606911949],"aabb_xy":[[-0.029619837300101426,-2.0851338423199177],[0.04538016428388947,-2.0723981604035373]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.5729827263789902,-0.09966871444804726,0.71338606911949],"aabb_xy":[[-0.6229777373384423,-0.14966871348363897],[-0.5229877154195383,-0.049668715412455544]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.595849521561427,0.12784484974371457,0.71338606911949],"aabb_xy":[[0.5708495220096885,0.11770236587857988],[0.6208495211131655,0.13798733360884932]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.6022390138197444,-0.4936944108299204,0.71338606911949],"aabb_xy":[[-0.6622390140711456,-0.547975735866385],[-0.5422390135683433,-0.4394130857934558]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[0.6420036133746934,-1.2703987461763206,0.71338606911949],"aabb_xy":[[0.5780036111542863,-1.3147718303016087],[0.7060036155951004,-1.2260256620510321]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.07281744552803393,1.0240733399432629,0.71338606911949],"aabb_xy":[[0.012817444667221107,0.9726469099367764],[0.13281744638884668,1.075499769949749]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[0.29826234255867834,-2.029034337831276,0.71338606911949],"aabb_xy":[[0.27041730577807127,-2.0598188365695878],[0.3261073793392855,-1.9982498390929644]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[-0.15459294517759647,-1.2188582952249034,0.71338606911949],"aabb_xy":[[-0.16474596073174583,-1.2549278367976435],[-0.14443992962344707,-1.1827887536521628]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.6455401686277416,-1.2445278567298022,0.71338606911949],"aabb_xy":[[-0.6680365900616057,-1.2670278565365496],[-0.6230437471938775,-1.2220278569230547]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[0.5370941129212732,-0.20035404033619608,0.71338606911949],"aabb_xy":[[0.47309411221780395,-0.24637242280911711],[0.6010941136247426,-0.15433565786327508]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[-0.1039795653161858,-1.5329649496082012,0.71338606911949],"aabb_xy":[[-0.18770179081626825,-1.6229649531428971],[-0.02025733981610335,-1.4429649460735052]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[0.040055099538935934,-1.203118336804087,0.71338606911949],"aabb_xy":[[-0.0239449023734064,-1.2590294860620974],[0.10405510145127828,-1.1472071875460765]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[0.3317129554001945,-1.1673798638691184,0.71338606911949],"aabb_xy":[[0.31413465321124767,-1.1849543534432234],[0.34929125758914137,-1.1498053742950134]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.2152976400874539,-0.8020009391258678,0.71338606911949],"aabb_xy":[[0.1674914724736852,-0.8670009418329265],[0.2631038077012225,-0.7370009364188087]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627080155878533,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4864.png","name":"4864"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4864.png","name":"4864"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4018.png","name":"4018"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7389.png","name":"7389"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/618.png","name":"618"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5888.png","name":"5888"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":763.3901955289441,"rotation_z_degrees":317.55009408694525,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014292477035739121,-0.012637129130780807,-0.01141769189860752]},{"name":"camera_2","offset_m":[0.004107927254107642,-0.008576980179917433,-0.0004413450082168431]},{"name":"camera_3","offset_m":[0.014647923964053889,0.007046010166060355,-0.01715088105706033]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006652036184994184,0.0007534654878259372,0.0012536801266935125],"end_effector_yaw_offset_degrees":0.6094809768490854},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017065888994003621,0.0006744240807514189,0.001602374001967399],"end_effector_yaw_offset_degrees":-0.6004095077294775},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001528603375863435,-0.0014614265148734243,-0.0003058694435763814],"end_effector_yaw_offset_degrees":0.237277393886709}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004945831103927637,-0.0030461876087666275],"position_m":[0.19865416889607238,-0.04884618760876663,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008642867014322462,0.004535792882067982],"position_m":[0.23393571329856777,-0.359064207117932,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00463397546054889,-0.004860037785021022],"position_m":[0.16466602453945112,0.22523996221497897,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004607718150048341,0.0033597243260654443],"position_m":[0.33840771815004833,0.12105972432606545,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a000f62e9ba1071db32d2c1e99171645a615f29c0a4f350b1ded665f60e91ad8","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0088.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4864/tex_ceiling_textures_5888/tex_floor_textures_618/tex_table_textures_4018/tex_wall_textures_7389","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":369613627897549349,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":369613627897549349,"visual_seed":369613627897549349,"scene_id":"lab_003","finished_at":"2026-09-04T10:21:07"}
+{"episode_id":"ep_000089","started_at":"2026-09-04T10:21:11","dimensions":{"distractor":{"count":21,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.29428952657470203,0.8163296330021113,0.71338606911949],"aabb_xy":[[-0.33162080309994474,0.781676578207259],[-0.25695825004945944,0.8509826877969635]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.3498213294335134,-2.2600113776106667,0.71338606911949],"aabb_xy":[[-0.4138213313458558,-2.3159225268686767],[-0.2858213275211711,-2.204100228352656]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_2","position":[-0.28435482749827296,1.8111394758600876,0.71338606911949],"aabb_xy":[[-0.29205801817234994,1.8034301051613495],[-0.27665163682419586,1.8188488465588257]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.27063662918052844,-1.6496031419348052,0.71338606911949],"aabb_xy":[[0.2066366258908203,-1.6929380609387228],[0.3346366324702365,-1.6062682229308876]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.4349829425619629,1.1755239329660045,0.71338606911949],"aabb_xy":[[-0.43842361880202013,1.1716624999916403],[-0.4315422663219058,1.1793853659403692]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.024619091180440367,-1.1637300622724742,0.71338606911949],"aabb_xy":[[0.007941955187344862,-1.1804299862464047],[0.04129622717353587,-1.1470301382985442]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[-0.18667307284658752,0.9731375319479434,0.71338606911949],"aabb_xy":[[-0.21500278279512777,0.9686767897542264],[-0.15834336289804732,0.9775982741416606]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[-0.5580756391483406,1.732336004661407,0.71338606911949],"aabb_xy":[[-0.5634081538029536,1.7270116764161714],[-0.5527431244937275,1.7376603329066425]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[0.3076484361348373,-0.9555012364740487,0.71338606911949],"aabb_xy":[[0.3021904904978172,-1.0355012397817078],[0.31310638177185734,-0.8755012331663895]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.34197957425518766,1.6651095493849577,0.71338606911949],"aabb_xy":[[0.31083265541160454,1.5951095506981505],[0.3731264930987708,1.7351095480717649]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[-0.620397537474826,-0.6069943967116493,0.71338606911949],"aabb_xy":[[-0.6656761523559752,-0.670994396059833],[-0.5751189225936767,-0.5429943973634657]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.594593158179587,-2.5617615563606084,0.71338606911949],"aabb_xy":[[-0.6058382137502049,-2.5730033540847037],[-0.5833481026089692,-2.550519758636513]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.530645316489208,-2.1088294209922425,0.71338606911949],"aabb_xy":[[0.4406453128122896,-2.170261827569346],[0.620645320166126,-2.047397014415137]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.6813066747842251,1.369754579760719,0.71338606911949],"aabb_xy":[[-0.6921471530107399,1.35256829847007],[-0.6704661965577101,1.3869408610513674]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.28153992003698103,-0.6886382172601782,0.71338606911949],"aabb_xy":[[0.22153991917616814,-0.7400646472666644],[0.3415399208977937,-0.6372117872536917]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[0.036466919595028235,-0.924554284581057,0.71338606911949],"aabb_xy":[[-0.05353307899944171,-0.9408048708944782],[0.12646691818949818,-0.9083036982676361]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_16","position":[-0.4713554573168934,-0.8093833073632994,0.71338606911949],"aabb_xy":[[-0.48064907555404396,-0.8468833058514333],[-0.4620618390797428,-0.7718833088751655]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.4912152666709326,-1.8316552242142394,0.71338606911949],"aabb_xy":[[0.4537152658789372,-1.8380230651724292],[0.5287152674629281,-1.8252873832560492]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.20690212308434908,0.034167813349031295,0.71338606911949],"aabb_xy":[[-0.21431457862573752,0.028316602927403345],[-0.19948966754296057,0.040019023770659246]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[-0.5237244473133811,-0.4098403833547657,0.71338606911949],"aabb_xy":[[-0.5515694840939883,-0.4406248820930774],[-0.49587941053277407,-0.379055884616454]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[0.6316370526753565,0.05984028313426748,0.71338606911949],"aabb_xy":[[0.5941370542519561,0.046676069166436844],[0.6691370510987568,0.07300449710209811]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6606323752736761,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9879.png","name":"9879"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9879.png","name":"9879"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3016.png","name":"3016"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3877.png","name":"3877"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3238.png","name":"3238"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4595.png","name":"4595"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":811.7326626210443,"rotation_z_degrees":301.01043963762476,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016372688173690943,0.004184002661180703,0.003001478351840777]},{"name":"camera_2","offset_m":[-0.014515812278980108,-0.006176479234289656,0.012733234239851222]},{"name":"camera_3","offset_m":[-0.007968311016096465,0.006788893388713642,-0.016547224362568464]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017616181938530369,-0.0014306133448998325,0.00043269585782231],"end_effector_yaw_offset_degrees":0.4809056730311221},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.242667307354002e-05,-0.0018018087808611366,0.0014314418603412044],"end_effector_yaw_offset_degrees":-0.4764244693155477},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010799167819566715,-0.0003706319171703418,-0.0010258571710237345],"end_effector_yaw_offset_degrees":0.1033702765595994}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00047976420878979506,-0.0018959984715221268],"position_m":[0.2040797642087898,-0.04769599847152213,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032677534934282826,0.004640372732197002],"position_m":[0.23153224650657173,-0.35895962726780295,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017600643839436004,-0.003471556027354398],"position_m":[0.1675399356160564,0.2266284439726456,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007582978037613021,0.00175425387426607],"position_m":[0.3345582978037613,0.11945425387426607,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8849421ec3bcc70ea791ff2380c41da36a4981d26468383bb4b509b4bd4c34df","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9879/tex_ceiling_textures_4595/tex_floor_textures_3238/tex_table_textures_3016/tex_wall_textures_3877","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":355508737547341083,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":355508737547341083,"visual_seed":355508737547341083,"scene_id":"lab_003","finished_at":"2026-09-04T10:23:52"}
+{"episode_id":"ep_000090","started_at":"2026-09-04T10:23:55","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[-0.6465738336999731,-2.1837942490132614,0.71338606911949],"aabb_xy":[[-0.6715738329719353,-2.2001396126094237],[-0.6215738344280107,-2.167448885417099]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[0.11410120457017181,1.6706679922312477,0.71338606911949],"aabb_xy":[[0.05910572674951241,1.6156679907973408],[0.1690966823908312,1.7256679936651547]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.5283461013903444,1.028440485134051,0.71338606911949],"aabb_xy":[[-0.5324819577230446,0.990940485689694],[-0.5242102450576442,1.065940484578408]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[0.2787115308081578,-1.502108380955411,0.71338606911949],"aabb_xy":[[0.24371153161533948,-1.5130754269530733],[0.313711530000976,-1.4911413349577483]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.08532332194193204,1.0431901761855045,0.71338606911949],"aabb_xy":[[0.02132332482982635,0.9941578063910941],[0.14932331905403773,1.0922225459799153]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[0.5028029121354258,0.39621925176416317,0.71338606911949],"aabb_xy":[[0.4528029104739311,0.3462208095084604],[0.5528029137969206,0.44621769401986583]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.5166158883189693,-0.437509960574447,0.71338606911949],"aabb_xy":[[-0.5512069711730144,-0.502509960859478],[-0.48202480546492404,-0.3725099602894159]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.10430252248090932,0.6495860200250005,0.71338606911949],"aabb_xy":[[0.08424411086766903,0.6295209331158429],[0.12436093409414961,0.669651106934158]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.12043934598151618,0.19610197345798008,0.71338606911949],"aabb_xy":[[-0.18443934789385852,0.14019082419996967],[-0.05643934406917385,0.2520131227159905]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.3652959857042964,-2.4679464688782016,0.71338606911949],"aabb_xy":[[-0.3877959857144447,-2.482042688517805],[-0.3427959856941481,-2.4538502492385983]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[0.4184584995028098,-2.568382639601186,0.71338606911949],"aabb_xy":[[0.4091114919205146,-2.5826862618188304],[0.42780550708510506,-2.5540790173835424]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[-0.17181778211454946,0.44836524252236964,0.71338606911949],"aabb_xy":[[-0.2358177785418714,0.4011956187002732],[-0.10781778568722758,0.4955348663444661]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[0.604668117801012,-0.4726646691835823,0.71338606911949],"aabb_xy":[[0.5546750056918203,-0.5226646698577779],[0.654661229910204,-0.42266466850938667]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[0.5364539508118025,-1.6210840775343192,0.71338606911949],"aabb_xy":[[0.5284105908858473,-1.7060840786296856],[0.5444973107377576,-1.5360840764389527]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.5750820954307445,-2.0006638392857026,0.71338606911949],"aabb_xy":[[0.48508209309672545,-2.078146193870815],[0.6650820977647636,-1.9231814847005895]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.09455422953952652,1.0465481435568815,0.71338606911949],"aabb_xy":[[-0.12885114055726715,1.01225125734694],[-0.06025731852178589,1.0808450297668226]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[-0.23836323916666724,1.4049962336008632,0.71338606911949],"aabb_xy":[[-0.27586323927226014,1.398174071747882],[-0.20086323906107426,1.4118183954538444]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.3832295428154304,-1.0568594796025108,0.71338606911949],"aabb_xy":[[-0.4632295442455576,-1.1363766346151203],[-0.3032295413853032,-0.9773423245899013]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.27366129985115817,-1.808126173758962,0.71338606911949],"aabb_xy":[[0.20366129771972857,-1.8308881393846574],[0.34366130198258765,-1.7853642081332661]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[0.5213641236271036,1.4796119205692313,0.71338606911949],"aabb_xy":[[0.5132364354337904,1.4706983121585235],[0.5294918118204168,1.488525528979939]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668272444658326,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2334.png","name":"2334"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2334.png","name":"2334"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4350.png","name":"4350"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/682.png","name":"682"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3852.png","name":"3852"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":770.8814153195456,"rotation_z_degrees":9.125548293341318,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003890473579328188,-0.006917253820630491,0.018703766025763933]},{"name":"camera_2","offset_m":[-0.00531980384921301,0.012211855900249372,-0.017281738290444874]},{"name":"camera_3","offset_m":[0.019361281494755297,-0.015238470166949845,-0.008686135074064745]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009021650598364825,0.00017709619721540662,0.0005414305763540763],"end_effector_yaw_offset_degrees":-0.8461241328620965},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011899600638668787,0.0009356485652396874,0.0010448208908186269],"end_effector_yaw_offset_degrees":0.5866988191546942},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004591098767396495,0.001026671216464316,-0.001176009421682945],"end_effector_yaw_offset_degrees":-0.592278378843085}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030165446536561695,-0.004258382061072511],"position_m":[0.20661654465365617,-0.050058382061072514,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0040742116234334875,0.00460433388047709],"position_m":[0.2388742116234335,-0.3589956661195229,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005772320941514917,0.0037544005121391876],"position_m":[0.1698772320941515,0.23385440051213918,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025856123613405488,-0.002363759695420842],"position_m":[0.3363856123613405,0.11533624030457916,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fee3b31ee16ee308f3e18681f2981746fee4c4a77f42e3dca62f38ac0182cf9a","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0090.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2334/tex_ceiling_textures_3852/tex_floor_textures_682/tex_table_textures_5587/tex_wall_textures_4350","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3269569875991695767,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3269569875991695767,"visual_seed":3269569875991695767,"scene_id":"lab_003","finished_at":"2026-09-04T10:26:35"}
+{"episode_id":"ep_000091","started_at":"2026-09-04T10:26:39","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[0.2557777263585683,-1.726530978295047,0.71338606911949],"aabb_xy":[[0.25044015069256376,-1.7515309792241869],[0.2611153020245729,-1.7015309773659073]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.6501154074806053,-1.691883822180837,0.71338606911949],"aabb_xy":[[0.641987719287292,-1.7007974305915448],[0.6582430956739185,-1.6829702137701292]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.37205666149772415,0.2938055268856061,0.71338606911949],"aabb_xy":[[-0.4220566631592188,0.24380708462990344],[-0.3220566598362293,0.34380396914130884]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.5916435048713775,1.1974071462452818,0.71338606911949],"aabb_xy":[[0.5741435055932906,1.180069046178936],[0.6091435041494644,1.214745246311628]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[-0.21943413240508924,0.42462419448336775,0.71338606911949],"aabb_xy":[[-0.2369808273212082,0.3871241929191165],[-0.20188743748897034,0.462124196047619]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[0.6026777195375854,-2.564224882797739,0.71338606911949],"aabb_xy":[[0.5856676222475348,-2.5803593712960127],[0.6196878168276361,-2.548090394299465]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.42197030901800203,1.4370733323376412,0.71338606911949],"aabb_xy":[[0.4170142888331209,1.4145733321355196],[0.42692632920288326,1.4595733325397628]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[0.532535349179156,-1.811038347387335,0.71338606911949],"aabb_xy":[[0.5089502257152612,-1.8760383496327668],[0.5561204726430509,-1.7460383451419033]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[-0.39360413192596355,0.7429994930053847,0.71338606911949],"aabb_xy":[[-0.40289775016311413,0.7054994945172508],[-0.38431051368881297,0.7804994914935186]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.12055783081608029,-0.0596816618348841,0.71338606911949],"aabb_xy":[[-0.13805783107541694,-0.07377320402365674],[-0.1030578305567437,-0.04559011964611149]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.3185412761737662,1.7656751745443606,0.71338606911949],"aabb_xy":[[-0.35604127599079977,1.7610369632332186],[-0.28104127635673265,1.7703133858555022]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[0.05625208702950413,-2.1245481974932243,0.71338606911949],"aabb_xy":[[0.006257076070052098,-2.1745481965288165],[0.10624709798895618,-2.074548198457633]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.6067975086192774,-1.574009757821212,0.71338606911949],"aabb_xy":[[-0.6567975072651986,-1.6239293014806742],[-0.5567975099733562,-1.5240902141617494]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[0.18545787828684934,0.8834706706312963,0.71338606911949],"aabb_xy":[[0.1304578786651035,0.8284869778438235],[0.24045787790859519,0.938454363418769]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[-0.6120314002621629,0.39286146174487024,0.71338606911949],"aabb_xy":[[-0.6275871696724281,0.37731102850046316],[-0.5964756308518976,0.40841189498927755]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[-0.2903530584630992,-1.5683622956883765,0.71338606911949],"aabb_xy":[[-0.37035305953621955,-1.578140342025761],[-0.2103530573899789,-1.558584249350992]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.6024090823291511,-0.4936079885251856,0.71338606911949],"aabb_xy":[[-0.6096913987058146,-0.5836079921346945],[-0.5951267659524873,-0.40360798491567657]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[0.18398717263886954,1.7155527379569828,0.71338606911949],"aabb_xy":[[0.16934376708483656,1.7008940183001986],[0.19863057819290253,1.730211457613767]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.2616808062205599,1.5018530625471844,0.71338606911949],"aabb_xy":[[0.24579631295523474,1.4875001222483604],[0.27756529948588504,1.5162060028460085]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.29505407535433026,1.2700659401870822,0.71338606911949],"aabb_xy":[[0.24505407591413458,1.2200980157027657],[0.3450540747945258,1.3200338646713983]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[-0.0448573652475015,-1.6086086877730952,0.71338606911949],"aabb_xy":[[-0.10885736846613936,-1.6553317996721033],[0.019142637971136356,-1.5618855758740866]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.490574060193238,1.5288945014885607,0.71338606911949],"aabb_xy":[[-0.5127465871698889,1.5067188343324374],[-0.4684015332165871,1.5510701686446835]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[-0.509042809162327,-2.155011407961363,0.71338606911949],"aabb_xy":[[-0.5315428089762294,-2.159486024331843],[-0.48654280934842464,-2.150536791590882]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[-0.37149986587501427,-0.9414727508686167,0.71338606911949],"aabb_xy":[[-0.3939998661185297,-0.9536773855283887],[-0.34899986563149893,-0.9292681162088448]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[0.48363443658167227,1.0223667490750064,0.71338606911949],"aabb_xy":[[0.4196344392793258,0.9780003221071498],[0.5476344338840187,1.0667331760428633]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[-0.1906842552723117,1.472727542721167,0.71338606911949],"aabb_xy":[[-0.19889880038799565,1.4640509524235252],[-0.1824697101566277,1.481404133018808]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.5074885414421366,-0.07212182394989641,0.71338606911949],"aabb_xy":[[0.4850237714707314,-0.09462182482875692],[0.5299533114135416,-0.04962182307103591]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_27","position":[0.3053602774843758,1.6836834220718626,0.71338606911949],"aabb_xy":[[0.27536861475050545,1.6536834227350619],[0.3353519402182461,1.713683421408663]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[-0.42812732386509234,-2.0513200725956993,0.71338606911949],"aabb_xy":[[-0.5081273243353084,-2.059630780210048],[-0.34812732339487645,-2.0430093649813514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619993721411406,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1031.png","name":"1031"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1031.png","name":"1031"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7283.png","name":"7283"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9014.png","name":"9014"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6498.png","name":"6498"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/113.png","name":"113"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":719.5923564697671,"rotation_z_degrees":150.4402978277472,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019426417353198357,-0.006119203916871955,-0.004543468420577774]},{"name":"camera_2","offset_m":[-0.0035521119648340704,0.0018964965844995504,0.01857623157094933]},{"name":"camera_3","offset_m":[-0.015906068449186475,0.01794196335812442,-0.002550066253026121]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003094144914299673,2.104462797686193e-06,0.0005008086929062035],"end_effector_yaw_offset_degrees":0.9196833550680006},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018986862424849637,-0.0010043457580016751,-0.001866587111813733],"end_effector_yaw_offset_degrees":0.3309583283026438},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003150552507854853,0.0011402250104525407,0.0003756129098580461],"end_effector_yaw_offset_degrees":0.9156686419579185}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0002837371493466141,0.004568402743950025],"position_m":[0.20388373714934663,-0.041231597256049975,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003139479482412332,0.0023276454311658102],"position_m":[0.23166052051758768,-0.36127235456883416,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003714355455543169,0.0011051181906576602],"position_m":[0.17301435545554317,0.23120511819065767,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002985323746317956,0.0010339637246104738],"position_m":[0.3367853237463179,0.11873396372461047,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b7061133424682ef5522930218ac9613ef86e6002bc10bbacbb75fac1614736a","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0091.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1031/tex_ceiling_textures_113/tex_floor_textures_6498/tex_table_textures_7283/tex_wall_textures_9014","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3893173766629875252,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3893173766629875252,"visual_seed":3893173766629875252,"scene_id":"lab_003","finished_at":"2026-09-04T10:28:53"}
+{"episode_id":"ep_000092","started_at":"2026-09-04T10:28:58","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[0.3451678413448649,-1.2869313125945667,0.71338606911949],"aabb_xy":[[0.2951848911573855,-1.336931312237127],[0.39515079153234417,-1.236931312952006]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.6421793651782042,0.33637138137311684,0.71338606911949],"aabb_xy":[[-0.6624636679016029,0.3160887562304079],[-0.6218950624548054,0.3566540065158256]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.4663390806593779,-0.8218961897037442,0.71338606911949],"aabb_xy":[[0.4290078041341353,-0.8565492444985965],[0.5036703571846205,-0.787243134908892]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[-0.17831944416164802,-0.5239804028162767,0.71338606911949],"aabb_xy":[[-0.20831110689551832,-0.5539804021530771],[-0.14832778142777767,-0.493980403479476]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.26389090350191324,-1.1178303010877284,0.71338606911949],"aabb_xy":[[0.21441048228795445,-1.1818302990005805],[0.31337132471587203,-1.0538303031748768]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.4099419924161376,0.6859444222718603,0.71338606911949],"aabb_xy":[[0.40190565771485265,0.6779063029674434],[0.41797832711742233,0.6939825415762769]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.6191935856604589,-0.6732707250869987,0.71338606911949],"aabb_xy":[[-0.6534904966781995,-0.70756761129694],[-0.5848966746427183,-0.6389738388770574]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_7","position":[-0.4070342617655123,0.14712485845151413,0.71338606911949],"aabb_xy":[[-0.47703426389694176,0.12436289282581844],[-0.3370342596340827,0.16988682407720976]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.42684560590064713,1.2030711586397222,0.71338606911949],"aabb_xy":[[0.3668456060540804,1.1462525364466836],[0.48684560574721397,1.259889780832761]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[-0.023092881385390562,-2.2665839303354622,0.71338606911949],"aabb_xy":[[-0.0880928799424634,-2.296336463749345],[0.04190711717168227,-2.2368313969215796]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.6475935089305636,1.4876099365284907,0.71338606911949],"aabb_xy":[[-0.6850935092787912,1.475818540947407],[-0.6100935085823357,1.499401332109574]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.6774479305740442,-0.8869711005478622,0.71338606911949],"aabb_xy":[[0.6673662234954706,-0.9669710984399768],[0.6875296376526175,-0.8069711026557475]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.41436113733574365,-1.0738474534677562,0.71338606911949],"aabb_xy":[[0.40804903779940516,-1.0796143927209751],[0.420673236872082,-1.0680805142145373]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.439105761656724,0.4150349341366826,0.71338606911949],"aabb_xy":[[0.3591057646936848,0.3379592924929091],[0.5191057586197632,0.492110575780456]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.6338885587254974,-1.03425495749966,0.71338606911949],"aabb_xy":[[-0.643520194945927,-1.043892270279369],[-0.6242569225050678,-1.024617644719951]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[-0.4499078705201057,-1.9234667662284428,0.71338606911949],"aabb_xy":[[-0.4659697979786233,-2.0084667680410346],[-0.433845943061588,-1.838466764415851]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[0.3501076407970447,-2.2852929512415985,0.71338606911949],"aabb_xy":[[0.3001126298375927,-2.3352929502771906],[0.4001026517564968,-2.235292952206007]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.4283368804291679,-0.32323358549315984,0.71338606911949],"aabb_xy":[[-0.43713893573814055,-0.33104491164808886],[-0.41953482512019513,-0.3154222593382307]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[-0.6425688112305885,-0.09482393376361431,0.71338606911949],"aabb_xy":[[-0.6475248314154698,-0.11732393396573594],[-0.6376127910457074,-0.07232393356149269]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.305838062925468,-0.7109492951811065,0.71338606911949],"aabb_xy":[[0.3014074335706279,-0.7163976669157892],[0.31026869228030823,-0.705500923446424]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.6051336780326704,0.18192926957229671,0.71338606911949],"aabb_xy":[[0.5551548695223544,0.1319292695665779],[0.6551124865429861,0.23192926957801552]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.12057269285662264,-0.024346342021503542,0.71338606911949],"aabb_xy":[[-0.14307182858284961,-0.046846342799766516],[-0.09807355713039569,-0.0018463412432405714]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[-0.3260382629559644,-0.7377719269613616,0.71338606911949],"aabb_xy":[[-0.3760382633165304,-0.7877519141709645],[-0.27603826259539826,-0.6877919397517586]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.4649968775565607,-1.7630012171193796,0.71338606911949],"aabb_xy":[[0.45700288897885727,-1.7710012972144695],[0.47299086613426405,-1.7550011370242888]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_24","position":[0.020340085605100033,-1.9513338096198347,0.71338606911949],"aabb_xy":[[0.012313814974474036,-1.9600853045971873],[0.02836635623572603,-1.942582314642482]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_25","position":[-0.02740571519067192,-1.7152656661184253,0.71338606911949],"aabb_xy":[[-0.08740571605148471,-1.7666920961249117],[0.03259428567014088,-1.663839236111939]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[-0.11599774504124682,1.4924082985724199,0.71338606911949],"aabb_xy":[[-0.13846251501265194,1.4699082976935591],[-0.0935329750698417,1.5149082994512801]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[0.1502752355573268,-1.388416559136382,0.71338606911949],"aabb_xy":[[0.1252752356248089,-1.3952992273573053],[0.1752752354898447,-1.3815338909154586]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_28","position":[0.38602302500790464,-2.1065085915954658,0.71338606911949],"aabb_xy":[[0.38188716867520445,-2.144008591039823],[0.39015888134060484,-2.069008592151109]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_29","position":[-0.506744965772834,0.7572433539607202,0.71338606911949],"aabb_xy":[[-0.5707449628849397,0.7082109841663096],[-0.4427449686607283,0.8062757237551308]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[-0.2849636928434086,-1.6986340114417278,0.71338606911949],"aabb_xy":[[-0.33496369228360423,-1.7486019359260438],[-0.234963693403213,-1.6486660869574112]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6654393544549684,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/632.png","name":"632"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/632.png","name":"632"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5423.png","name":"5423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3769.png","name":"3769"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7452.png","name":"7452"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2021.png","name":"2021"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":729.439697167785,"rotation_z_degrees":160.18908744048656,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0001798005006903025,-0.01701338380466089,0.018974546585757254]},{"name":"camera_2","offset_m":[0.018908346988531697,-0.019894457897901476,0.014885530116237253]},{"name":"camera_3","offset_m":[0.007870194977712477,-0.010475741957776466,-0.014117914747267202]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001257915057736809,0.0015087254494297736,-0.0009445548581017561],"end_effector_yaw_offset_degrees":0.12163944754079026},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009253059487276804,4.263922093620089e-05,-0.0006110263947383104],"end_effector_yaw_offset_degrees":-0.7982732557502714},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009960732580215196,-1.6065338647299008e-05,0.0008456084353553298],"end_effector_yaw_offset_degrees":-0.7886105524193545}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012653261053799949,0.004904186111984998],"position_m":[0.20233467389462,-0.040895813888015005,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001790697636854948,0.0036138773193561827],"position_m":[0.23659069763685495,-0.3599861226806438,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000865718223362304,-0.0003226015635099076],"position_m":[0.17016571822336232,0.2297773984364901,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004853328563595013,-0.004261501688870597],"position_m":[0.3333146671436405,0.1134384983111294,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a3bdbce7852b4b81e66cc46f4dddd3776d3bc4be50403236a1c637d8c55ead54","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_632/tex_ceiling_textures_2021/tex_floor_textures_7452/tex_table_textures_5423/tex_wall_textures_3769","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7888815077135091351,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7888815077135091351,"visual_seed":7888815077135091351,"scene_id":"lab_003","finished_at":"2026-09-04T10:31:33"}
+{"episode_id":"ep_000093","started_at":"2026-09-04T10:31:36","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.557562138652119,0.4365109487042118,0.71338606911949],"aabb_xy":[[0.5495258039508342,0.428472829399795],[0.5655984733534039,0.44454906800862853]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.16730639310343676,-1.3153713982832327,0.71338606911949],"aabb_xy":[[-0.18480639334848611,-1.3328711861227993],[-0.14980639285838734,-1.2978716104436656]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.27871571954027263,-1.7915231949437946,0.71338606911949],"aabb_xy":[[0.24138444301503,-1.8261762497386471],[0.31604699606551523,-1.7568701401489426]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.41416592913594685,1.506389138097569,0.71338606911949],"aabb_xy":[[-0.42066756564395147,1.4966213160712594],[-0.40766429262794224,1.5161569601238791]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[0.5103926595830919,-1.977809254520385,0.71338606911949],"aabb_xy":[[0.5023492996571366,-2.0628092556157513],[0.5184360195090469,-1.8928092534250183]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.5083294879713682,1.1874827213658001,0.71338606911949],"aabb_xy":[[0.48582948844766066,1.1649867739151791],[0.5308294874950754,1.2099786688164207]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.12467843123927824,-2.3305182512042584,0.71338606911949],"aabb_xy":[[-0.1621784310563118,-2.3351564625154],[-0.0871784314222447,-2.3258800398931165]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[0.2637820827987939,-1.8911198402616163,0.71338606911949],"aabb_xy":[[0.24128208298489157,-1.8955944566320972],[0.28628208261269633,-1.8866452238911358]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.6099623221379344,-1.904142731452147,0.71338606911949],"aabb_xy":[[-0.6449623204080543,-1.911216859147135],[-0.5749623238678145,-1.8970686037571587]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.3239675378275564,0.5551474957712008,0.71338606911949],"aabb_xy":[[-0.34154584001650323,0.5375730061970959],[-0.30638923563860954,0.5727219853453057]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[0.384791057615387,-2.0270276428917757,0.71338606911949],"aabb_xy":[[0.34624536479018597,-2.065573413947964],[0.42333675044058805,-1.9884818718355866]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[-0.37058832817314336,-1.6184850861010518,0.71338606911949],"aabb_xy":[[-0.4050506755712851,-1.652978968498874],[-0.3361259807750015,-1.5839912037032287]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[0.43338091318160776,-1.0792666038989476,0.71338606911949],"aabb_xy":[[0.39588091251702906,-1.0949536618991695],[0.47088091384618647,-1.0635795458987252]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.360104120008057,0.758231677012954,0.71338606911949],"aabb_xy":[[0.3365189965441622,0.6932316747675222],[0.3836892434719519,0.8232316792583858]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.5263924115939498,-1.2524920539307745,0.71338606911949],"aabb_xy":[[-0.6063924118675567,-1.3254416017564912],[-0.44639241132034274,-1.1795425061050577]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.3580805454680713,-1.8700789239965863,0.71338606911949],"aabb_xy":[[-0.4120961417499712,-1.9340789268888432],[-0.3040649491861712,-1.8060789211043289]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.2725184752133054,-2.303020141309706,0.71338606911949],"aabb_xy":[[0.20251847880334353,-2.323458076961386],[0.3425184716232671,-2.2825822056580227]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[0.4033015299713538,0.5833776070450822,0.71338606911949],"aabb_xy":[[0.3393015308015839,0.5366109199261196],[0.4673015291411238,0.6301442941640446]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.6464987819184234,-1.7648021218684466,0.71338606911949],"aabb_xy":[[-0.6839987818621897,-1.7730952119032835],[-0.6089987819746568,-1.7565090318336103]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.014987108518349945,-0.8095630962385902,0.71338606911949],"aabb_xy":[[-0.04000610281878681,-0.864563096577384],[0.06998031985548671,-0.7545630958997968]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.14381514908114457,1.5596331570506377,0.71338606911949],"aabb_xy":[[0.07381514747886508,1.54620036384898],[0.21381515068342405,1.5730659502522952]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.6303995884513383,0.7955041601281043,0.71338606911949],"aabb_xy":[[0.5803995871674982,0.7455253057374821],[0.6803995897351781,0.8454830145187263]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.20447973797127011,-0.25319826747343566,0.71338606911949],"aabb_xy":[[-0.26947973652834295,-0.2829508008873183],[-0.13947973941419728,-0.22344573405955304]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.22317308262757385,-0.811220315520033,0.71338606911949],"aabb_xy":[[-0.27817308180416334,-0.8662099902949906],[-0.16817308345098436,-0.7562306407450753]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6618512707234716,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5678.png","name":"5678"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5678.png","name":"5678"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6275.png","name":"6275"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7138.png","name":"7138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8032.png","name":"8032"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5470.png","name":"5470"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":560.2337204422198,"rotation_z_degrees":19.106411274984495,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008002487738408247,0.003941576966086099,0.0028873939173423083]},{"name":"camera_2","offset_m":[0.008149203210094904,-0.0024412655505265182,0.012037773429706026]},{"name":"camera_3","offset_m":[-0.010522503190849096,0.015183390374856897,-0.014918789632786988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009322352527515003,-0.0005795569131731746,0.0013272913947997016],"end_effector_yaw_offset_degrees":-0.3861034432951953},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005469742346682349,0.0009431596075540963,0.0004332736385273565],"end_effector_yaw_offset_degrees":0.9281657615841814},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007699746265500665,0.0017552220894289047,-0.0015529512036402348],"end_effector_yaw_offset_degrees":-0.45977323117070457}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030022026942594033,0.002780375399218736],"position_m":[0.2066022026942594,-0.043019624600781264,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033910914553729266,0.0022127619710411717],"position_m":[0.2314089085446271,-0.3613872380289588,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00035272242427072595,-0.0041244333819422255],"position_m":[0.16965272242427074,0.22597556661805776,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038025135487702788,-0.004239739741217994],"position_m":[0.3299974864512297,0.113460260258782,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f754df4dd91efed76ef646835a257a5b5ab31f40744bb71bb6c4f86e3ab96494","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0093.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5678/tex_ceiling_textures_5470/tex_floor_textures_8032/tex_table_textures_6275/tex_wall_textures_7138","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8883252320204507901,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8883252320204507901,"visual_seed":8883252320204507901,"scene_id":"lab_003","finished_at":"2026-09-04T10:34:25"}
+{"episode_id":"ep_000094","started_at":"2026-09-04T10:34:28","dimensions":{"distractor":{"count":27,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[-0.28923525476449585,0.3825883842724944,0.71338606911949],"aabb_xy":[[-0.3742352531819191,0.29771408881020944],[-0.20423525634707262,0.4674626797347794]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.49597689832641256,0.9269010166425686,0.71338606911949],"aabb_xy":[[0.4498918070716811,0.8629010193900135],[0.542061989581144,0.9909010138951238]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[0.09082776200993614,1.1240196314093556,0.71338606911949],"aabb_xy":[[0.0709367221295959,1.111363820124659],[0.1107188018902764,1.1366754426940526]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[-0.34042095007579487,-2.122675996947209,0.71338606911949],"aabb_xy":[[-0.40542094795744266,-2.1737996606537497],[-0.27542095219414703,-2.071552333240668]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[0.007458395785500782,-2.312897937824348,0.71338606911949],"aabb_xy":[[-0.05754160237041828,-2.33919418237426],[0.07245839394141984,-2.2866016932744357]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.35869316365298637,-2.386835164256634,0.71338606911949],"aabb_xy":[[-0.39299007467072694,-2.421132050466575],[-0.3243962526352457,-2.3525382780466924]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[0.24191073371029337,0.6065115098942342,0.71338606911949],"aabb_xy":[[0.15191073398711913,0.5834381573590542],[0.33191073343346744,0.6295848624294139]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[-0.31277644906721547,1.1008014975988138,0.71338606911949],"aabb_xy":[[-0.3279486183488488,1.0856326406706105],[-0.2976042797855821,1.1159703545270172]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[0.5522479791093935,0.06248276993599866,0.71338606911949],"aabb_xy":[[0.5352378818193428,0.046348281437724737],[0.5692580763994441,0.07861725843427259]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.060413320400075854,-0.8603841585389507,0.71338606911949],"aabb_xy":[[0.02361868727516958,-0.897290033635533],[0.09720795352498213,-0.8234782834423684]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[-0.684276608296487,-2.3870006500045085,0.71338606911949],"aabb_xy":[[-0.6915378558668944,-2.3997876602680175],[-0.6770153607260797,-2.3742136397409985]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[0.34048239450915085,-0.7739213981124105,0.71338606911949],"aabb_xy":[[0.3034482850810911,-0.8082986054461198],[0.3775165039372106,-0.7395441907787009]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.3487790658057612,-0.2364081641521132,0.71338606911949],"aabb_xy":[[-0.38627906732139294,-0.2476349371682582],[-0.3112790642901295,-0.2251813911359681]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.7052883302519626,-0.8251294678377019,0.71338606911949],"aabb_xy":[[0.6998303846149426,-0.9051294711453609],[0.7107462758889828,-0.7451294645300427]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.6179964965536007,0.47136645202321503,0.71338606911949],"aabb_xy":[[-0.6554964963706342,0.4667282407120732],[-0.5804964967365671,0.47600466333435687]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.03171865363307025,-2.171446432430315,0.71338606911949],"aabb_xy":[[0.01404302304447192,-2.1891266487097174],[0.04939428422166858,-2.153766216150912]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.6527726640394116,-1.5065159472627412,0.71338606911949],"aabb_xy":[[0.6027726636788455,-1.556495934472344],[0.7027726643999777,-1.456535960053138]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.13565168291369267,-1.6352469503532365,0.71338606911949],"aabb_xy":[[-0.19565168377450545,-1.6866733803597227],[-0.07565168205287985,-1.58382052034675]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.5260323213513662,-2.3975517676839755,0.71338606911949],"aabb_xy":[[0.5085323220732793,-2.4148898677503214],[0.543532320629453,-2.3802136676176295]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.1940665800310455,-1.4254262200526622,0.71338606911949],"aabb_xy":[[0.11406658137415948,-1.4399310789769253],[0.2740665786879315,-1.4109213611283995]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[0.4524324518396734,1.781822134899453,0.71338606911949],"aabb_xy":[[0.38843244978994135,1.741727651810145],[0.5164324538894054,1.821916617988761]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[0.2068822233876475,0.7106877607458069,0.71338606911949],"aabb_xy":[[0.19875453519433428,0.7017741523350992],[0.21500991158096072,0.7196013691565145]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.35960266808265207,-1.0205345948971933,0.71338606911949],"aabb_xy":[[-0.39391894525727,-1.070534594870371],[-0.32528639090803413,-0.9705345949240156]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[0.2613790786586312,1.260713538494738,0.71338606911949],"aabb_xy":[[0.17765685315854873,1.1707135349600422],[0.34510130415871365,1.350713542029434]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[0.2767343851927271,0.9077095364643548,0.71338606911949],"aabb_xy":[[0.21273438448925774,0.8616911539914339],[0.3407343858961964,0.9537279189372759]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[0.32166730707020097,-2.477560599427724,0.71338606911949],"aabb_xy":[[0.3037981993157455,-2.491393507404935],[0.33953641482465646,-2.463727691450513]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[-0.10976692421197787,-1.0273716665976274,0.71338606911949],"aabb_xy":[[-0.11368079740740038,-1.0361206820041842],[-0.10585305101655533,-1.0186226511910705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6717803219142963,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6975.png","name":"6975"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6975.png","name":"6975"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1330.png","name":"1330"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2425.png","name":"2425"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9114.png","name":"9114"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1700.png","name":"1700"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":575.6655634099793,"rotation_z_degrees":281.35739713779725,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037692973941024117,-0.018318985693613465,-0.015825895680908343]},{"name":"camera_2","offset_m":[0.013521249308821374,0.004013859170284708,0.004854820852508313]},{"name":"camera_3","offset_m":[-0.010522163852683617,-0.017788059845345004,0.00647194180764905]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006857064356066928,0.0010444234161047926,-0.00028824249268218907],"end_effector_yaw_offset_degrees":0.7181556441082007},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00019205515340514493,0.0019994358990074864,0.0006082576366760245],"end_effector_yaw_offset_degrees":0.013836384990918216},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012262012294289174,0.0007123179655665027,0.0007047964380514308],"end_effector_yaw_offset_degrees":-0.20319475505000084}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004827110507857563,-0.004859858798513955],"position_m":[0.20842711050785756,-0.05065985879851396,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046676074358883895,-0.003606659366389805],"position_m":[0.2394676074358884,-0.3672066593663898,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009967561916972498,-0.002099336105669484],"position_m":[0.16830324380830275,0.22800066389433052,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004250804521459219,0.0010553424100450326],"position_m":[0.3380508045214592,0.11875534241004503,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bbffd0f26799e29dabdf2519866913b6aaaa6dc16291e136d7828b4117e8d006","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6975/tex_ceiling_textures_1700/tex_floor_textures_9114/tex_table_textures_1330/tex_wall_textures_2425","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3585237763909016010,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3585237763909016010,"visual_seed":3585237763909016010,"scene_id":"lab_003","finished_at":"2026-09-04T10:37:05"}
+{"episode_id":"ep_000095","started_at":"2026-09-04T10:37:09","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.43511574048749435,-0.6869637504241441,0.71338606911949],"aabb_xy":[[0.3451157410691235,-0.7203392472683339],[0.5251157399058652,-0.6535882535799544]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.09719307799786658,0.04736141318024334,0.71338606911949],"aabb_xy":[[-0.14716614353038204,-0.0026385866322895597],[-0.047220012465351124,0.09736141299277626]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[0.4695502983074593,0.23360078068762258,0.71338606911949],"aabb_xy":[[0.4614226101141461,0.22468717227691493],[0.47767798650077253,0.24251438909833023]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.010405629423881568,-1.8853856588077136,0.71338606911949],"aabb_xy":[[-0.09040563158664405,-1.965340842433857],[0.06959437273888092,-1.8054304751815697]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.5600969819255986,-0.8916967549061743,0.71338606911949],"aabb_xy":[[-0.5945594599386863,-0.8983604320890971],[-0.5256345039125108,-0.8850330777232515]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[-0.2859519309004563,-2.126734645804768,0.71338606911949],"aabb_xy":[[-0.28986580409587875,-2.1354836612113246],[-0.2820380577050337,-2.117985630398211]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.15950286821289272,-2.192339128410488,0.71338606911949],"aabb_xy":[[0.09950286836632594,-2.2491577506035267],[0.2195028680594595,-2.1355205062174494]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.5874094178640987,-2.0785771763387375,0.71338606911949],"aabb_xy":[[0.5692035942028512,-2.089602576920729],[0.6056152415253465,-2.067551775756746]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[0.010327997606738415,-2.1882791449240995,0.71338606911949],"aabb_xy":[[-0.025301158293221326,-2.2239118116809524],[0.045957153506698156,-2.1526464781672465]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[0.5050184381728131,-0.9201696193104458,0.71338606911949],"aabb_xy":[[0.4861340544043028,-0.9390555440907986],[0.5239028219413232,-0.901283694530093]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[-0.5104062152529488,1.6187346232914055,0.71338606911949],"aabb_xy":[[-0.5954062136703722,1.5338603278291205],[-0.4254062168355257,1.7036089187536905]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[0.36221067215744496,0.9984283072076776,0.71338606911949],"aabb_xy":[[0.28221067499786967,0.9868807062498606],[0.44221066931702024,1.0099759081654947]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[0.10516394784216676,-1.235775969025143,0.71338606911949],"aabb_xy":[[0.05568352662820797,-1.299775966937995],[0.15464436905612555,-1.1717759711122913]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[0.31990115193777235,-1.4188285555161408,0.71338606911949],"aabb_xy":[[0.3028910546477217,-1.4349630440144145],[0.336911249227823,-1.4026940670178667]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.06935399750337623,0.7458505563209092,0.71338606911949],"aabb_xy":[[-0.12935399836418898,0.6944241263144227],[-0.009353996642563407,0.7972769863273955]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[-0.4976128293929247,-1.8385818758304198,0.71338606911949],"aabb_xy":[[-0.5351128294985176,-1.845404037683401],[-0.4601128292873317,-1.8317597139774389]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.6514763687594824,-2.2523961589686556,0.71338606911949],"aabb_xy":[[-0.688807645284725,-2.2870492137635083],[-0.6141450922342399,-2.217743104173804]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.36885411029082205,-0.4227881890963907,0.71338606911949],"aabb_xy":[[0.35943663572095924,-0.43220436623410974],[0.37827158486068474,-0.4133720119586717]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[0.37788358860026117,0.6293952304609038,0.71338606911949],"aabb_xy":[[0.3280668091354264,0.5793952319766005],[0.4277003680650959,0.6793952289452072]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.6351306265631907,0.7715850784242821,0.71338606911949],"aabb_xy":[[-0.6851256375226428,0.7215850793886904],[-0.5851356156037387,0.821585077459874]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.13160066991114938,-1.4049169487653395,0.71338606911949],"aabb_xy":[[-0.15188497263454812,-1.425199573908048],[-0.1113163671877506,-1.3846343236226304]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_21","position":[-0.4029352242056153,0.12971356822429092,0.71338606911949],"aabb_xy":[[-0.48293522218640034,0.12211202726243899],[-0.32293522622483023,0.13731510918614287]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[0.28252992675923494,1.245017241033508,0.71338606911949],"aabb_xy":[[0.2562411024387942,1.2187458073788566],[0.30881875107967555,1.271288674688159]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[-0.45895282330280723,1.1554818386239138,0.71338606911949],"aabb_xy":[[-0.47674633023772367,1.1376820930281162],[-0.4411593163678908,1.1732815842197115]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_24","position":[-0.3503596750213519,-0.6755423660444468,0.71338606911949],"aabb_xy":[[-0.3573999849548889,-0.7555423654441183],[-0.3433193650878149,-0.5955423666447754]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[0.07380945368016145,1.661240906919891,0.71338606911949],"aabb_xy":[[0.01880945547841661,1.6207189402934534],[0.12880945188190626,1.7017628735463286]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[-0.3418624001522323,1.2893496641875126,0.71338606911949],"aabb_xy":[[-0.3793624003241042,1.256648928804605],[-0.3043623999803603,1.3220503995704194]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[0.549673646218475,1.2799039565378378,0.71338606911949],"aabb_xy":[[0.5345014769368417,1.2647350996096345],[0.5648458155001084,1.2950728134660412]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_28","position":[0.549862071034908,0.0923170753879563,0.71338606911949],"aabb_xy":[[0.4998620700843751,0.060767928384434886],[0.5998620719854407,0.1238662223914777]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_29","position":[0.26662205130141625,0.9078240421570127,0.71338606911949],"aabb_xy":[[0.2515197498403981,0.8927225205259508],[0.2817243527624343,0.9229255637880744]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664890646389657,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9557.png","name":"9557"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9557.png","name":"9557"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2635.png","name":"2635"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7080.png","name":"7080"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5883.png","name":"5883"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7301.png","name":"7301"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":670.8814925439351,"rotation_z_degrees":337.55385739165973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007079019126352283,-0.01741857666170927,0.013646630706648382]},{"name":"camera_2","offset_m":[-0.005025829026449538,0.0013485510555648651,-0.005082021123159039]},{"name":"camera_3","offset_m":[-0.010939992205096383,-0.010392227371590042,0.015031614470149602]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018256709355951857,-0.0018787910417847721,0.0019115343127544208],"end_effector_yaw_offset_degrees":0.5533309503199138},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008059780247873637,0.0008239524614011271,0.0012518513062794844],"end_effector_yaw_offset_degrees":0.8562680685082873},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00041782611111431094,-0.0006615634262797285,-0.0018208842026359064],"end_effector_yaw_offset_degrees":0.9905089499311421}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007964207154066627,0.002436021632127185],"position_m":[0.20280357928459333,-0.04336397836787281,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0044978236377234415,-0.00499079277910036],"position_m":[0.23030217636227657,-0.36859079277910034,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017542274497698586,-0.001440121575657587],"position_m":[0.16754577255023015,0.2286598784243424,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004670153976041067,-0.0035031848751938145],"position_m":[0.3291298460239589,0.11419681512480619,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7966549c9f0df9523cdb86b09a58ae8682425380b50f4b9f0eef962709cf7292","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9557/tex_ceiling_textures_7301/tex_floor_textures_5883/tex_table_textures_2635/tex_wall_textures_7080","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5749204741609813953,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5749204741609813953,"visual_seed":5749204741609813953,"scene_id":"lab_003","finished_at":"2026-09-04T10:39:48"}
+{"episode_id":"ep_000096","started_at":"2026-09-04T10:39:51","dimensions":{"distractor":{"count":24,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.14058156803628885,1.054746212667288,0.71338606911949],"aabb_xy":[[-0.16558156796880671,1.0478635444463646],[-0.11558156810377093,1.0616288808882113]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.6346633178964842,-2.2146044921548302,0.71338606911949],"aabb_xy":[[0.625316310314189,-2.228908114372474],[0.6440103254787795,-2.2003008699371858]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.35406911247520584,1.3200923068390935,0.71338606911949],"aabb_xy":[[-0.3621827671485829,1.3119864903850642],[-0.3459554578018287,1.3281981232931224]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[0.5963910283450293,-1.0610581412723046,0.71338606911949],"aabb_xy":[[0.592430544575295,-1.0687260058578254],[0.6003515121147637,-1.0533902766867842]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.6744684307555945,-1.5792120190628536,0.71338606911949],"aabb_xy":[[-0.6824947013862207,-1.5879635140402062],[-0.6664421601249687,-1.570460524085501]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[0.6275377793734145,1.7408633304572407,0.71338606911949],"aabb_xy":[[0.5375377796502403,1.7177899779220607],[0.7175377790965887,1.7639366829924203]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[-0.30189442958433094,0.4094784802026745,0.71338606911949],"aabb_xy":[[-0.38561665508441334,0.3194784766679786],[-0.21817220408424842,0.49947848373737047]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.007574369916682477,1.0839281346001268,0.71338606911949],"aabb_xy":[[-0.04436900304158875,1.0470222595035446],[0.029220263208223796,1.120834009696709]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.6298067931470304,-1.0320428150545566,0.71338606911949],"aabb_xy":[[-0.6632469683430499,-1.0654864408854865],[-0.5963666179510106,-0.9985991892236264]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.5957738856956147,-1.9731272257444883,0.71338606911949],"aabb_xy":[[0.5881496176054365,-1.9807604492810322],[0.603398153785793,-1.9654940022079448]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[-0.37358552876773105,-1.0300667769818448,0.71338606911949],"aabb_xy":[[-0.4040697788947612,-1.0800667767633405],[-0.3431012786407009,-0.9800667772003486]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[-0.3564898599216788,1.0477358146002413,0.71338606911949],"aabb_xy":[[-0.37898628135554285,1.025235814793494],[-0.33399343848781465,1.0702358144069888]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[-0.058044480138692456,-1.5616233819905714,0.71338606911949],"aabb_xy":[[-0.0705118382484281,-1.5740887066238949],[-0.04557712202895681,-1.5491580573572479]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.3456113415513528,1.1869670768871696,0.71338606911949],"aabb_xy":[[-0.3866292849377237,1.1369670762562123],[-0.30459339816498193,1.236967077518127]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.42677631818741246,-0.9624327598720981,0.71338606911949],"aabb_xy":[[0.362776320885066,-1.0067991868399546],[0.4907763154897588,-0.9180663329042412]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.5932288466362964,0.38530051133398713,0.71338606911949],"aabb_xy":[[-0.6572288459304645,0.32131437096513293],[-0.529228847342128,0.4492866517028413]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.0645107753767088,1.208591801398808,0.71338606911949],"aabb_xy":[[0.04701084194272541,1.1910918014785732],[0.08201070881069215,1.2260918013190423]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[-0.14926936800096036,-1.9134179071872097,0.71338606911949],"aabb_xy":[[-0.1842693679774562,-1.9228825232348263],[-0.11426936802446452,-1.903953291139593]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[0.6085970919264754,-1.4239565400998004,0.71338606911949],"aabb_xy":[[0.5285970916528684,-1.496906087925517],[0.6885970922000824,-1.3510069922740835]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[0.18572158723199161,-1.763667851912035,0.71338606911949],"aabb_xy":[[0.14072158576576277,-1.8086677087735157],[0.2307215886982205,-1.7186679950505543]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.4261184872009041,0.7132915251257668,0.71338606911949],"aabb_xy":[[-0.46174764310086375,0.6776588583689138],[-0.39048933130094426,0.7489241918826197]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.31353733814802826,-0.8820400740989982,0.71338606911949],"aabb_xy":[[-0.31838093290925823,-0.8868917265779824],[-0.3086937433867983,-0.8771884216200142]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.5957329267665739,1.0864779695462654,0.71338606911949],"aabb_xy":[[0.5732329269526715,1.0820033531757847],[0.6182329265804762,1.0909525859167462]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[-0.174209708964305,-2.026887399734302,0.71338606911949],"aabb_xy":[[-0.19670970920782038,-2.039092034394074],[-0.1517097087207896,-2.01468276507453]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664780642292877,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6782.png","name":"6782"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6782.png","name":"6782"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4683.png","name":"4683"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6867.png","name":"6867"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8666.png","name":"8666"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8197.png","name":"8197"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":640.743840744659,"rotation_z_degrees":334.4001279033004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005335347792436149,0.006484580606292617,-0.012328602877537983]},{"name":"camera_2","offset_m":[-0.017065978529163424,-0.004465077990069469,0.013508675288678041]},{"name":"camera_3","offset_m":[-0.008417835398190788,-0.0152865616505562,0.010829249374430985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000890061859466957,0.0008661756327708122,-0.0015802538599865956],"end_effector_yaw_offset_degrees":0.13937313463190248},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012224356037086222,-1.1326216006442638e-07,-0.001247293925848489],"end_effector_yaw_offset_degrees":-0.13706662674960834},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002449192343951471,-0.00091702950881682,-0.0006995699631484947],"end_effector_yaw_offset_degrees":-0.7161148554846097}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001673905542698272,-0.0042347244417313655],"position_m":[0.20192609445730172,-0.05003472444173136,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007480562969332839,-0.002198580556717195],"position_m":[0.23405194370306673,-0.36579858055671716,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002851315423379539,0.00182953440451497],"position_m":[0.17215131542337955,0.23192953440451497,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002618600642015189,-0.0026745030411561978],"position_m":[0.3311813993579848,0.1150254969588438,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ec1172c790066b53549f09d7c58e38b5a7e0ec83a1de1114abe1a68cc98fa419","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6782/tex_ceiling_textures_8197/tex_floor_textures_8666/tex_table_textures_4683/tex_wall_textures_6867","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5866264077226725300,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5866264077226725300,"visual_seed":5866264077226725300,"scene_id":"lab_003","finished_at":"2026-09-04T10:42:32"}
+{"episode_id":"ep_000097","started_at":"2026-09-04T10:42:35","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[-0.3069251298058447,-0.8581311471436155,0.71338606911949],"aabb_xy":[[-0.3187972128173458,-0.9431311468372658],[-0.2950530467943436,-0.7731311474499651]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[0.0017074313031077981,0.6774842275993627,0.71338606911949],"aabb_xy":[[-0.08829256519776395,0.6315725851809043],[0.09170742780397954,0.7233958700178208]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.07029245313944898,0.3720084861744666,0.71338606911949],"aabb_xy":[[-0.09412867078005406,0.28200848536598017],[-0.046456235498843916,0.46200848698295316]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.3964327637952707,-0.4945905413045617,0.71338606911949],"aabb_xy":[[-0.4391994706746909,-0.5585905447263642],[-0.3536660569158505,-0.4305905378827592]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[-0.49634764751298543,0.5890563937701527,0.71338606911949],"aabb_xy":[[-0.5763476507769986,0.5754963614612394],[-0.4163476442489723,0.6026164260790661]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.3884862273860843,-1.3651233493736186,0.71338606911949],"aabb_xy":[[0.2984862287916143,-1.3813739356870398],[0.4784862259805542,-1.3488727630601978]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[-0.27303973654726593,-1.2280062903657163,0.71338606911949],"aabb_xy":[[-0.3230185450575818,-1.278006290371435],[-0.22306092803695005,-1.1780062903599975]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.16687104461346414,-1.5972352356822248,0.71338606911949],"aabb_xy":[[0.13007641148855784,-1.6341411107788069],[0.20366567773837038,-1.5603293605856423]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[0.6704341919166728,-1.85128221692926,0.71338606911949],"aabb_xy":[[0.6633938819831359,-1.9312822163289318],[0.6774745018502099,-1.771282217529589]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.19402352181951532,-2.2616374138055346,0.71338606911949],"aabb_xy":[[0.17110780893446545,-2.284541710941958],[0.21693923470456528,-2.238733116669111]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[0.3572133705004419,-1.8186850606751221,0.71338606911949],"aabb_xy":[[0.30721336921660186,-1.8686639150657443],[0.4072133717842818,-1.7687062062845]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.32430095195958525,-2.4142133871188904,0.71338606911949],"aabb_xy":[[-0.35930095115240346,-2.4251804331165525],[-0.28930095276676693,-2.4032463411212275]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[0.030008495703759963,-0.8816494587398835,0.71338606911949],"aabb_xy":[[-0.019991505657127255,-0.9316273633152992],[0.08000849706464717,-0.8316715541644679]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[0.17011987485548896,0.8262059216311552,0.71338606911949],"aabb_xy":[[0.13420637043049927,0.7902924134144006],[0.20603337928047866,0.8621194298479099]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.4722448023123409,0.3090447612516698,0.71338606911949],"aabb_xy":[[-0.5362448046551423,0.26410391000753725],[-0.4082447999695393,0.35398561249580224]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[-0.23853123268550114,1.692460924487277,0.71338606911949],"aabb_xy":[[-0.2554419651218428,1.678988718894662],[-0.2216205002491593,1.7059331300798912]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[-0.16255219268699672,-1.4387030766697906,0.71338606911949],"aabb_xy":[[-0.17196966725685947,-1.4481192538075096],[-0.15313471811713397,-1.4292868995320716]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.3913997769593536,-2.234502990631631,0.71338606911949],"aabb_xy":[[0.3837755088691754,-2.242136214168175],[0.3990240450495319,-2.2268697670950877]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[0.4654046660396689,-2.3594143473941576,0.71338606911949],"aabb_xy":[[0.39540466962970705,-2.3798522830458384],[0.5354046624496306,-2.338976411742475]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.029099324036867213,-1.1998507146350164,0.71338606911949],"aabb_xy":[[-0.03513633703753194,-1.2058774157039647],[-0.023062311036202487,-1.193824013566068]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[0.30667527818682205,1.0751797047482583,0.71338606911949],"aabb_xy":[[0.22167527949474747,1.0431938413533794],[0.39167527687889675,1.1071655681431372]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[-0.5751103155628228,-2.009046897578202,0.71338606911949],"aabb_xy":[[-0.592610315807872,-2.026546685417769],[-0.5576103153177733,-1.9915471097386355]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[-0.3625759837271601,1.6307066470542426,0.71338606911949],"aabb_xy":[[-0.38507598373730845,1.6166104274146393],[-0.34007598371701186,1.644802866693846]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[0.5400669022886881,-2.0965787165069925,0.71338606911949],"aabb_xy":[[0.5249040293117511,-2.1117441738021117],[0.5552297752656252,-2.081413259211874]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[0.4890495884822539,-0.0588147998852353,0.71338606911949],"aabb_xy":[[0.48100622855629865,-0.14381480098060173],[0.497092948408209,0.026185201210131133]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_25","position":[0.36531208401792714,1.5916784426111366,0.71338606911949],"aabb_xy":[[0.33746704723732,1.5608939438728249],[0.39315712079853427,1.6224629413494482]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_26","position":[-0.5727704132030031,1.0169806252085194,0.71338606911949],"aabb_xy":[[-0.6101016897282456,0.9823275704136671],[-0.5354391366777604,1.0516336800033717]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[0.30907725973291567,0.5526768722111535,0.71338606911949],"aabb_xy":[[0.2450772633055937,0.505507248389057],[0.3730772561602375,0.5998464960332499]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_28","position":[0.49945379817726954,1.7517625639626089,0.71338606911949],"aabb_xy":[[0.44945878721781757,1.7017625649270178],[0.5494488091367216,1.8017625629982013]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_29","position":[-0.6213828470188435,-1.8966940245163042,0.71338606911949],"aabb_xy":[[-0.6274774749069618,-1.905263419067973],[-0.6152882191307252,-1.8881246299646355]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_30","position":[-0.624982911763205,0.8175080347917718,0.71338606911949],"aabb_xy":[[-0.6889829090655515,0.7731416078239151],[-0.5609829144608587,0.8618744617596286]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_31","position":[-0.3322878324770757,1.2278252448697637,0.71338606911949],"aabb_xy":[[-0.3535658406205479,1.1628252425436905],[-0.3110098243336034,1.2928252471958366]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666798604864701,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3648.png","name":"3648"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3648.png","name":"3648"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8090.png","name":"8090"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7741.png","name":"7741"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6235.png","name":"6235"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4015.png","name":"4015"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":570.7154318040393,"rotation_z_degrees":214.94573640418318,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0070060044283250175,-0.0033617826923878665,0.012027361101240714]},{"name":"camera_2","offset_m":[-0.011152971583667206,0.00181153109493978,0.0028271522978136066]},{"name":"camera_3","offset_m":[-0.014413017830240071,0.015600277796427402,-0.011156569363405594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003867088307742722,0.001305361151959478,-0.0015066409943807896],"end_effector_yaw_offset_degrees":0.9996275975208737},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001348233820710323,0.001395222491626697,-0.0017527753845769322],"end_effector_yaw_offset_degrees":0.5836037770103393},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000484718671434285,0.0019197888640934075,-0.0008115203660278177],"end_effector_yaw_offset_degrees":0.4776980546790228}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004395286339290645,-0.0034799729359806285],"position_m":[0.19920471366070935,-0.04927997293598063,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[5.267256988243912e-05,-0.0013449295606323252],"position_m":[0.23485267256988246,-0.3649449295606323,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002676753685703766,0.002714031132279711],"position_m":[0.17197675368570378,0.23281403113227972,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006303380877969332,-0.004810393605701433],"position_m":[0.33443033808779693,0.11288960639429857,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"27507495d0b777ebdf794151747590f2ef0423728adb26a3c5555ff0f385491d","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3648/tex_ceiling_textures_4015/tex_floor_textures_6235/tex_table_textures_8090/tex_wall_textures_7741","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2441012003006338003,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2441012003006338003,"visual_seed":2441012003006338003,"scene_id":"lab_003","finished_at":"2026-09-04T10:45:22"}
+{"episode_id":"ep_000098","started_at":"2026-09-04T10:45:25","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[-0.3109825100428972,-0.10965165706972035,0.71338606911949],"aabb_xy":[[-0.3211355255970465,-0.1457211986424607],[-0.30082949448874774,-0.07358211549698003]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.12209926716258923,1.2286992627803826,0.71338606911949],"aabb_xy":[[-0.13088049430982548,1.2199195154918525],[-0.11331804001535303,1.237479010068913]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.1417784660263215,-0.9665195242103457,0.71338606911949],"aabb_xy":[[-0.2057784693160296,-1.009854443214263],[-0.07777846273661339,-0.923184605206428]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[0.09241132970702637,0.732884447417923,0.71338606911949],"aabb_xy":[[0.0619270795799962,0.6828844476364272],[0.12289557983405651,0.7828844471994191]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.21269783661076158,-1.3777973816429971,0.71338606911949],"aabb_xy":[[0.19019783636724616,-1.390002016302769],[0.23519783685427695,-1.3655927469832252]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[-0.1293806216159724,-0.702174946832224,0.71338606911949],"aabb_xy":[[-0.1893806218673736,-0.7564562718686887],[-0.06938062136457124,-0.6478936217957594]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.42456733031726357,0.7313090277942882,0.71338606911949],"aabb_xy":[[-0.4695673317834925,0.6863091709328075],[-0.37956732885103484,0.776308884655769]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[0.5362070386358102,1.5187298426408087,0.71338606911949],"aabb_xy":[[0.49103572078764135,1.4547298454962705],[0.5813783564839793,1.5827298397853475]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.27110490457292546,0.5411727065215821,0.71338606911949],"aabb_xy":[[0.19110490410270953,0.5328619989072338],[0.3511049050431414,0.5494834141359306]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.608338040450036,-1.128300026172567,0.71338606911949],"aabb_xy":[[0.5833380405175181,-1.1351826943934904],[0.6333380403825539,-1.1214173579516438]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.5301816761691991,-0.7925994627191504,0.71338606911949],"aabb_xy":[[0.5261035182621493,-0.7966804429674137],[0.5342598340762487,-0.7885184824708871]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[0.6996245609006129,-0.5903281048571294,0.71338606911949],"aabb_xy":[[0.6909105918506783,-0.6128281055163174],[0.7083385299505472,-0.5678281041979409]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[-0.1691656775694892,-1.1100343654497054,0.71338606911949],"aabb_xy":[[-0.20162737845141662,-1.1401671975646075],[-0.1367039766875617,-1.0799015333348023]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.6105743931521508,1.2148057752165036,0.71338606911949],"aabb_xy":[[0.5737238452151632,1.17730577439347],[0.6474249410891384,1.2523057760395375]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.2654237061909167,-1.7742368630081709,0.71338606911949],"aabb_xy":[[-0.3294237075989073,-1.8260258145320956],[-0.201423704782926,-1.7224479114842461]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[0.6334794901242735,1.3381910431907018,0.71338606911949],"aabb_xy":[[0.6089332745015227,1.3079421466416645],[0.6580257057470241,1.3684399397397387]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.5235726938649805,-1.8982267510598296,0.71338606911949],"aabb_xy":[[0.4684474882353898,-1.9582267525011168],[0.5786978994945713,-1.8382267496185425]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.6340984973098831,-0.39667430212230004,0.71338606911949],"aabb_xy":[[0.5919140831490524,-0.46067430239951124],[0.6762829114707138,-0.33267430184508884]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.11553948519179036,1.304818158462759,0.71338606911949],"aabb_xy":[[0.09548107357855007,1.2847530715536015],[0.13559789680503065,1.3248832453719164]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[-0.6237318624873713,-0.8382483078337613,0.71338606911949],"aabb_xy":[[-0.6777474587692713,-0.9022483107260183],[-0.5697162662054713,-0.774248304941504]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.6731981224986487,-1.906269893197103,0.71338606911949],"aabb_xy":[[0.6580958210376304,-1.9213714148281644],[0.6883004239596666,-1.8911683715660406]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6635104709293587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8931.png","name":"8931"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8931.png","name":"8931"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1688.png","name":"1688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9158.png","name":"9158"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9231.png","name":"9231"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7344.png","name":"7344"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":681.4526994745518,"rotation_z_degrees":253.87407629537404,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006147417601759242,-0.0034913599668571355,-0.018809142801117916]},{"name":"camera_2","offset_m":[0.016241009116879205,-0.016315294967687965,-0.003832934303423307]},{"name":"camera_3","offset_m":[-0.000178077156884459,0.019743886626753675,-0.0016033225449258864]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006611731669666399,-4.1508292777338394e-05,0.00010948648547278372],"end_effector_yaw_offset_degrees":-0.6308463982378243},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00016865524725963158,-0.0007431946415032279,-0.0016829060420778719],"end_effector_yaw_offset_degrees":-0.7127756074000609},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016778682483367152,0.0016239022180934426,-0.0018911651339135296],"end_effector_yaw_offset_degrees":0.9068791262310565}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002693454859881452,0.0041293911320552735],"position_m":[0.20629345485988146,-0.04167060886794473,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000981541765907648,0.0028758416274437043],"position_m":[0.23381845823409236,-0.3607241583725563,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003811898683785681,-0.0024718151133039236],"position_m":[0.17311189868378568,0.2276281848866961,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022269649054047344,-0.004201161501009433],"position_m":[0.33602696490540473,0.11349883849899056,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba232d0fe46ad8fc6cc5624db84f017edd760971ec4f3d60cac9447e93692e09","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8931/tex_ceiling_textures_7344/tex_floor_textures_9231/tex_table_textures_1688/tex_wall_textures_9158","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3727192154134853136,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3727192154134853136,"visual_seed":3727192154134853136,"scene_id":"lab_003","finished_at":"2026-09-04T10:47:59"}
+{"episode_id":"ep_000099","started_at":"2026-09-04T10:48:02","dimensions":{"distractor":{"count":34,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.6107279142045552,0.4874497248731342,0.71338606911949],"aabb_xy":[[-0.6482279127801758,0.4747134292095762],[-0.5732279156289342,0.500186020536692]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.4701897267423123,-0.6609845858282479,0.71338606911949],"aabb_xy":[[-0.5341897299609502,-0.7077076977272564],[-0.40618972352367444,-0.6142614739292397]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[-0.17534807359425608,1.483563016819255,0.71338606911949],"aabb_xy":[[-0.20993915644830127,1.4185630165342238],[-0.14075699074021084,1.548563017104286]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.2262079234338103,0.45166992309347886,0.71338606911949],"aabb_xy":[[-0.2612079234103062,0.4422053070458623],[-0.1912079234573145,0.46113453914109553]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[-0.02878744050899873,-2.478701029330518,0.71338606911949],"aabb_xy":[[-0.03286559841604847,-2.482782009578781],[-0.024709282601948986,-2.474620049082254]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[-0.45341162557945835,-1.6938515999275343,0.71338606911949],"aabb_xy":[[-0.459913262087463,-1.703619421953844],[-0.4469099890714538,-1.6840837779012245]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.5801525819957334,-1.741625810777268,0.71338606911949],"aabb_xy":[[0.5001525849814854,-1.761760362450679],[0.6601525790099814,-1.7214912591038565]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[-0.04547893582244855,-1.6231303119013958,0.71338606911949],"aabb_xy":[[-0.1354789394993667,-1.6845627184784997],[0.044521067854469625,-1.561697905324291]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.31981320904860133,1.283144197553185,0.71338606911949],"aabb_xy":[[-0.3427289219336513,1.2602399004167617],[-0.2968974961635515,1.3060484946896087]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[-0.4472784717645023,-0.2654027283776439,0.71338606911949],"aabb_xy":[[-0.5112784703510748,-0.3124096917771526],[-0.38327847317792985,-0.21839576497813518]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.1652191519294629,1.4510032032284887,0.71338606911949],"aabb_xy":[[0.10121915263529466,1.3870170628596346],[0.2292191512236311,1.514989343597343]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.26547445693551847,-0.3272442848575534,0.71338606911949],"aabb_xy":[[-0.27351781686147364,-0.41224428595291984],[-0.2574310970095633,-0.24224428376218698]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.5597790068274819,0.2910005888193732,0.71338606911949],"aabb_xy":[[-0.5638949569395545,0.2868850337865277],[-0.5556630567154092,0.2951161438522187]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.14907896327845926,-1.7163940724022084,0.71338606911949],"aabb_xy":[[0.08507896290092565,-1.7661393392530207],[0.21307896365599288,-1.6666488055513962]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.54875692699402,-2.538213027534587,0.71338606911949],"aabb_xy":[[-0.5634003325480529,-2.552871747191371],[-0.5341135214399869,-2.5235543078778027]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[0.15403485942711104,-2.3834079995379347,0.71338606911949],"aabb_xy":[[0.11273031636337505,-2.447407999106052],[0.19533940249084703,-2.3194079999698176]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.6221351070476137,-0.22284745652479154,0.71338606911949],"aabb_xy":[[-0.6281016459883494,-0.22880860118415558],[-0.6161685681068777,-0.2168863118654275]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[0.5084864706303835,1.6714273051479043,0.71338606911949],"aabb_xy":[[0.5045259868606492,1.663759440562384],[0.5124469544001179,1.679095169733425]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[-0.5191994935777308,0.7005800669898616,0.71338606911949],"aabb_xy":[[-0.5231133667731533,0.6918310515833048],[-0.5152856203823082,0.7093290823964185]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.30213038155930055,1.195403122365423,0.71338606911949],"aabb_xy":[[-0.337130379869996,1.187688107441877],[-0.2671303832486051,1.2031181372889683]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.4124225691992758,-0.3447201444342496,0.71338606911949],"aabb_xy":[[0.35742256957752994,-0.39970383722172237],[0.4674225688210216,-0.2897364516467769]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.26623662524352465,0.23755554864103967,0.71338606911949],"aabb_xy":[[-0.34623044882208287,0.1575555460481981],[-0.18624280166496643,0.31755555123388124]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[0.3849993707901822,1.0685561759320716,0.71338606911949],"aabb_xy":[[0.37253201268044656,1.0560908512987484],[0.39746672889991785,1.0810215005653954]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[-0.212024474531801,0.6322275959844119,0.71338606911949],"aabb_xy":[[-0.2356095979956959,0.5672275937389801],[-0.18843935106790619,0.6972275982298437]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[0.26334648521239157,0.741118401800557,0.71338606911949],"aabb_xy":[[0.2514137508505635,0.7287362489926977],[0.27527921957421964,0.7535005546084165]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_25","position":[-0.3670318209576337,0.5264944721462181,0.71338606911949],"aabb_xy":[[-0.4170249330668257,0.4764944714720226],[-0.3170387088484419,0.5764944728204139]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[-0.4639821048059496,-1.1987025695937552,0.71338606911949],"aabb_xy":[[-0.527982106483947,-1.2472199610730692],[-0.39998210312795224,-1.1501851781144408]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[-0.3685264605342756,1.6924532265132552,0.71338606911949],"aabb_xy":[[-0.3910264610463162,1.6699613681478565],[-0.346026460022235,1.7149450848786532]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_28","position":[-0.06549317825732093,-1.4163935829822132,0.71338606911949],"aabb_xy":[[-0.07427440540455717,-1.4251733302707434],[-0.056711951110084716,-1.4076138356936834]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_29","position":[-0.527915637583831,-2.2291254933859794,0.71338606911949],"aabb_xy":[[-0.5779156386029664,-2.265591709123808],[-0.4779156365646958,-2.192659277648152]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_30","position":[0.09945947361463725,-0.8710415594401508,0.71338606911949],"aabb_xy":[[0.0651431964400193,-0.9210415594133284],[0.1337757507892552,-0.821041559466973]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_31","position":[-0.6349715161831374,-0.7809347998006306,0.71338606911949],"aabb_xy":[[-0.642012967133885,-0.7879615515384252],[-0.6279300652323898,-0.7739080480628361]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_32","position":[0.32238058557035365,0.5888426854121076,0.71338606911949],"aabb_xy":[[0.24238058414022645,0.5093255303994981],[0.40238058700048085,0.6683598404247171]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_33","position":[-0.3261683258278496,-1.4970263922683293,0.71338606911949],"aabb_xy":[[-0.38116380364850894,-1.5520263937022358],[-0.27117284800719016,-1.442026390834422]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664879924654125,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5679.png","name":"5679"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5679.png","name":"5679"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5874.png","name":"5874"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2739.png","name":"2739"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3230.png","name":"3230"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7867.png","name":"7867"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":807.0390518407069,"rotation_z_degrees":14.303782802289607,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006021272625232048,0.010364889531773471,-0.006961036917216444]},{"name":"camera_2","offset_m":[-0.01115716041631191,-0.011856509804375559,-0.016794716469485202]},{"name":"camera_3","offset_m":[-0.00698199031293714,0.007073641592159743,-0.012978737980129731]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007015993145701427,-0.0006858627228031322,0.0018583961717788772],"end_effector_yaw_offset_degrees":-0.14959919959391432},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006095208279550263,0.0016007714699156472,-0.0007277123155417966],"end_effector_yaw_offset_degrees":0.9373599301669129},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009668773350162891,-0.001847661651001964,0.00046103490378738296],"end_effector_yaw_offset_degrees":-0.66057451357262}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0043618650790282374,0.004858757913618473],"position_m":[0.20796186507902825,-0.04094124208638153,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002479879855116517,-0.0019236864670488974],"position_m":[0.23232012014488349,-0.36552368646704886,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003292087370307074,0.0002565887211740583],"position_m":[0.1689707912629693,0.23035658872117407,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002296724696751006,0.001483439863353293],"position_m":[0.33150327530324897,0.1191834398633533,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4a6cedbaa9b83baa7ee428ab7cb8ed830124e6fd7cb945b21da3cb74d2706928","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5679/tex_ceiling_textures_7867/tex_floor_textures_3230/tex_table_textures_5874/tex_wall_textures_2739","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3813855353341077506,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3813855353341077506,"visual_seed":3813855353341077506,"scene_id":"lab_003","finished_at":"2026-09-04T10:50:40"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..37afad1f0e3b78d060079a82536c022b9450665e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/resolved_config.yaml
@@ -0,0 +1,233 @@
+name: lab3_heat_2beaker_s03_plr_htd_00006
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Place beaker b on the heater platform.
+    Press the heater button to start heating.
+  layout_id: layout_00006
+  reproducibility:
+    enabled: true
+    layout_id: layout_00006
+    action_seed: 613915801507398911
+    step_seeds:
+    - 103325174323403004
+    - 3963008736894911500
+    - 627831696969887324
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1693
+      - 0.1693
+      'y':
+      - 0.2301
+      - 0.2301
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2036
+      - 0.2036
+      'y':
+      - -0.0458
+      - -0.0458
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3338
+      - 0.3338
+      'y':
+      - 0.1177
+      - 0.1177
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2348
+      - 0.2348
+      'y':
+      - -0.3636
+      - -0.3636
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d54c248500db6ca48feb12fa889d44fb248c8fbd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_0_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2303006571355591,
+              -0.04647568180855891,
+              1.1590086320067072
+            ],
+            "current_z": 1.1590086320067072,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.3024222438074312,
+            "gripper_z": 1.152374077196231,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22567241119857295,
+              -0.051233154745548445,
+              1.152374077196231
+            ],
+            "object_minus_gripper": [
+              0.004628245936986158,
+              0.004757472936989533,
+              0.006634554810476256
+            ],
+            "object_to_gripper_xy": 0.006637334495067783,
+            "object_to_gripper_z": 0.006634554810476256,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2303006571355591,
+              -0.06991833325121648,
+              1.1590086320067072
+            ],
+            "finger_b": [
+              0.219392129180018,
+              -0.04647568180855891,
+              1.1590086320067072
+            ],
+            "finger_midpoint": [
+              0.22484639315778854,
+              -0.0581970075298877,
+              1.1590086320067072
+            ],
+            "object_minus_finger_midpoint": [
+              0.005454263977770574,
+              0.011721325721328786,
+              0.0
+            ],
+            "finger_gap": 0.025856409047250877,
+            "fingertip_max_gap": 0.09229375720717128,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012928204523625447,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1590086320067072,
+            "object_top_z": 1.2049728260802497,
+            "finger_top_clearance": 0.045964194073542464,
+            "fingertip_min_top_clearance": 0.013789258222062705,
+            "object_projection_between_fingers": 0.8220098870906701,
+            "object_to_finger_line_xy": 0.009890190789715477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048646878603585644,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0052023338148315,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.289229864880172,
+              -0.3636309311705941,
+              0.8470195078291755
+            ],
+            "target_position": [
+              0.28310213540143575,
+              -0.3637171314877038,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006128335749552481,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18531931493645748,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195078291755,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547730452049493,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547926340273591,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15345158198621336,
+            "release_required_pad_clearance": 0.05273963170136796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5308163834917634,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008030891418457031,
+            "max_z_decrease": 0.008030891418457031,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521963331826381,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008030891418457031,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105714230901301,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008030891418457031,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008030900830563237,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13880206644535065,
+              -0.41997858881950373,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13880206644535065,
+              -0.41997858881950373,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14082624949278258,
+              -0.41837513453123343,
+              0.8080839152567187
+            ],
+            "closest_button": [
+              0.13879512250423431,
+              -0.4199784100055694,
+              0.7729594707489014
+            ],
+            "closest_ee_minus_button": [
+              0.0020311269885482652,
+              0.0016032754743359745,
+              0.035124444507817376
+            ],
+            "button_min_z_position": [
+              0.1387900412082672,
+              -0.4199760258197784,
+              0.7687779664993286
+            ],
+            "min_active_finger_to_button": 0.14370769377640316,
+            "closest_active_finger": [
+              0.014056779444217682,
+              -0.4825751781463623,
+              0.8105009198188782
+            ],
+            "closest_active_finger_button": [
+              0.138802170753479,
+              -0.4199784100055694,
+              0.776264488697052
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12474539130926132,
+              -0.0625967681407929,
+              0.03423643112182617
+            ],
+            "min_contact_pad_to_button": 0.02105714230901301,
+            "closest_contact_pad": [
+              0.1387900412082672,
+              -0.4199760258197784,
+              0.7898351088083416
+            ],
+            "closest_contact_pad_button": [
+              0.1387900412082672,
+              -0.4199760258197784,
+              0.7687779664993286
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105714230901301
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c55bffbe24d0d3ee720e1f63b049206df729d8f4b611dc326d7a4f54ce790c0",
+    "visual_seed": 1318064923384964511,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6443ce44e3fdf507f704fdf2b3abae41f2111157
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_10_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2265920496215,
+              -0.05123283880767188,
+              1.1579409298501762
+            ],
+            "current_z": 1.1579409298501762,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30135448204625537,
+            "gripper_z": 1.151552851798964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22184093977591063,
+              -0.05585461252509413,
+              1.151552851798964
+            ],
+            "object_minus_gripper": [
+              0.00475110984558938,
+              0.004621773717422256,
+              0.00638807805121222
+            ],
+            "object_to_gripper_xy": 0.006628260485218688,
+            "object_to_gripper_z": 0.00638807805121222,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2265920496215,
+              -0.07503499321779986,
+              1.1579409298501762
+            ],
+            "finger_b": [
+              0.21626540353978202,
+              -0.05123283880767188,
+              1.1579409298501762
+            ],
+            "finger_midpoint": [
+              0.221428726580641,
+              -0.06313391601273587,
+              1.1579409298501762
+            ],
+            "object_minus_finger_midpoint": [
+              0.005163323040859008,
+              0.01190107720506399,
+              0.0
+            ],
+            "finger_gap": 0.025945754447705627,
+            "fingertip_max_gap": 0.09278729524523721,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012972877223852819,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1579409298501762,
+            "object_top_z": 1.2039185168841429,
+            "finger_top_clearance": 0.045977587033966705,
+            "fingertip_min_top_clearance": 0.013793276110190012,
+            "object_projection_between_fingers": 0.8415887653627349,
+            "object_to_finger_line_xy": 0.009473473784360531,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889364762261861,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6455930732932964,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 320,
+            "max_stable_success_frames": 320,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.296945243071861,
+              -0.35846429320618284,
+              0.8470196020257965
+            ],
+            "target_position": [
+              0.2876954974839709,
+              -0.36007179671393885,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009388389689831814,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18973763612186925,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196020257965,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577245879658087,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08763992191347046,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1572975358991207,
+            "release_required_pad_clearance": 0.05381996095673523,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6488250247939096,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008061528205871582,
+            "max_z_decrease": 0.008061528205871582,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035158085745374344,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008061528205871582,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021076835156844696,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008061528205871582,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008061538473247122,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14339542388916016,
+              -0.41633325815200806,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14339542388916016,
+              -0.41633325815200806,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14420309077786433,
+              -0.4168497768568741,
+              0.8038919976259103
+            ],
+            "closest_button": [
+              0.14338643848896027,
+              -0.41632404923439026,
+              0.7687473297119141
+            ],
+            "closest_ee_minus_button": [
+              0.0008166522889040684,
+              -0.0005257276224838181,
+              0.035144667913996286
+            ],
+            "button_min_z_position": [
+              0.14338643848896027,
+              -0.41632404923439026,
+              0.7687473297119141
+            ],
+            "min_active_finger_to_button": 0.14484646310794594,
+            "closest_active_finger": [
+              0.003536432981491089,
+              -0.40054401755332947,
+              0.8110146522521973
+            ],
+            "closest_active_finger_button": [
+              0.143395334482193,
+              -0.41633379459381104,
+              0.7767996191978455
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1398589015007019,
+              0.015789777040481567,
+              0.03421503305435181
+            ],
+            "min_contact_pad_to_button": 0.021076835156844696,
+            "closest_contact_pad": [
+              0.14338643848896027,
+              -0.41804610861749913,
+              0.7897536975966735
+            ],
+            "closest_contact_pad_button": [
+              0.14338643848896027,
+              -0.41632404923439026,
+              0.7687473297119141
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001722059383108876,
+              0.021006367884759403
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f56acd0fbb58f560fe522ab9658794f360f9cdae19135a64e6161b53ae81d03",
+    "visual_seed": 5345521293189929566,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cf9f19ef4e3fa6fc56149cc47af22b60701200f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_11_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22524138721928086,
+              -0.052730623804928024,
+              1.1594112918776498
+            ],
+            "current_z": 1.1594112918776498,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.302824844073729,
+            "gripper_z": 1.1530263313341178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22053888808698877,
+              -0.05732418686333311,
+              1.1530263313341178
+            ],
+            "object_minus_gripper": [
+              0.004702499132292093,
+              0.004593563058405088,
+              0.006384960543531992
+            ],
+            "object_to_gripper_xy": 0.00657375993330695,
+            "object_to_gripper_z": 0.006384960543531992,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22524138721928086,
+              -0.07641681160775056,
+              1.1594112918776498
+            ],
+            "finger_b": [
+              0.21484672951053396,
+              -0.052730623804928024,
+              1.1594112918776498
+            ],
+            "finger_midpoint": [
+              0.22004405836490742,
+              -0.0645737177063393,
+              1.1594112918776498
+            ],
+            "object_minus_finger_midpoint": [
+              0.005197328854373434,
+              0.011843093901411271,
+              0.0
+            ],
+            "finger_gap": 0.02586666583679834,
+            "fingertip_max_gap": 0.0930395088951543,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012933332918399166,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1594112918776498,
+            "object_top_z": 1.2054231260115933,
+            "finger_top_clearance": 0.0460118341339435,
+            "fingertip_min_top_clearance": 0.013803550240183081,
+            "object_projection_between_fingers": 0.8385122883783472,
+            "object_to_finger_line_xy": 0.009518420974270825,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049019754447577155,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.851549884090187,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 321,
+            "max_stable_success_frames": 321,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29381074924110695,
+              -0.3662004879748807,
+              0.8470195304571994
+            ],
+            "target_position": [
+              0.28539687283667375,
+              -0.367359257838997,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008493295223119337,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1901779140493435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195304571994,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754263618025911,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671604943008236,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1584333498664072,
+            "release_required_pad_clearance": 0.05335802471504118,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7322990563290457,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00811624526977539,
+            "max_z_decrease": 0.00811624526977539,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035075636680744864,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00811624526977539,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020997803161948818,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00811624526977539,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008116280141413924,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14109680056571958,
+              -0.42362073063850403,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14109680056571958,
+              -0.42362073063850403,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14081664408891473,
+              -0.4239376604666977,
+              0.8037654040850319
+            ],
+            "closest_button": [
+              0.14111360907554626,
+              -0.423603892326355,
+              0.7686926126480103
+            ],
+            "closest_ee_minus_button": [
+              -0.00029696498663153714,
+              -0.000333768140342694,
+              0.03507279143702169
+            ],
+            "button_min_z_position": [
+              0.14111360907554626,
+              -0.423603892326355,
+              0.7686926126480103
+            ],
+            "min_active_finger_to_button": 0.1459393900631903,
+            "closest_active_finger": [
+              0.0001244470477104187,
+              -0.4077770411968231,
+              0.8110312223434448
+            ],
+            "closest_active_finger_button": [
+              0.1411001980304718,
+              -0.42361968755722046,
+              0.7767798900604248
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14097575098276138,
+              0.01584264636039734,
+              0.03425133228302002
+            ],
+            "min_contact_pad_to_button": 0.020997803161948818,
+            "closest_contact_pad": [
+              0.14111360907554626,
+              -0.4251224011393613,
+              0.7896354364455016
+            ],
+            "closest_contact_pad_button": [
+              0.14111360907554626,
+              -0.423603892326355,
+              0.7686926126480103
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001518508813006303,
+              0.02094282379749135
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b53ca14f2e3a55cbdba0e988c459a7fb4c140c0dffcd6b321ac83c304595953",
+    "visual_seed": 768227304717730141,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..98c690a4f1405a06efcab6dcdeb01ea3d0061178
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_12_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22536416219140012,
+              -0.05157286105950062,
+              1.1613061232848036
+            ],
+            "current_z": 1.1613061232848036,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3047196158762381,
+            "gripper_z": 1.1549080912274448,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22053453510109958,
+              -0.0562239133703145,
+              1.1549080912274448
+            ],
+            "object_minus_gripper": [
+              0.004829627090300548,
+              0.004651052310813884,
+              0.006398032057358893
+            ],
+            "object_to_gripper_xy": 0.006705041791763278,
+            "object_to_gripper_z": 0.006398032057358893,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22536416219140012,
+              -0.07533022387355662,
+              1.1613061232848036
+            ],
+            "finger_b": [
+              0.21486276009533803,
+              -0.05157286105950062,
+              1.1613061232848036
+            ],
+            "finger_midpoint": [
+              0.22011346114336908,
+              -0.06345154246652862,
+              1.1613061232848036
+            ],
+            "object_minus_finger_midpoint": [
+              0.005250701048031048,
+              0.011878681407028004,
+              0.0
+            ],
+            "finger_gap": 0.025974828851445166,
+            "fingertip_max_gap": 0.09283063963474977,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012987414425722587,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1613061232848036,
+            "object_top_z": 1.2073038484471725,
+            "finger_top_clearance": 0.045997725162368885,
+            "fingertip_min_top_clearance": 0.013799317548710699,
+            "object_projection_between_fingers": 0.8365483961809509,
+            "object_to_finger_line_xy": 0.00960489946167845,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891531981737489,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.608678912181191,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30022013073591736,
+              -0.36102411918454935,
+              0.8470190142238847
+            ],
+            "target_position": [
+              0.292197196309326,
+              -0.3618929325415278,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00806983974206731,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849347170590207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190142238847,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535928369416973,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866138232761876,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1534516175483694,
+            "release_required_pad_clearance": 0.0533069116380938,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.630827315935142,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008141875267028809,
+            "max_z_decrease": 0.008141875267028809,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506815543563962,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008141875267028809,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020924583404173577,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008141875267028809,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008141918083850817,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14789712429046628,
+              -0.41815438866615295,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14789712429046628,
+              -0.41815438866615295,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.148645907025889,
+              -0.4175031295769978,
+              0.8037218274910047
+            ],
+            "closest_button": [
+              0.1479187160730362,
+              -0.41813918948173523,
+              0.7686669826507568
+            ],
+            "closest_ee_minus_button": [
+              0.0007271909528528131,
+              0.0006360599047374182,
+              0.0350548448402479
+            ],
+            "button_min_z_position": [
+              0.1479187160730362,
+              -0.41813918948173523,
+              0.7686669826507568
+            ],
+            "min_active_finger_to_button": 0.1448324314686441,
+            "closest_active_finger": [
+              0.02198178321123123,
+              -0.48105257749557495,
+              0.8107583522796631
+            ],
+            "closest_active_finger_button": [
+              0.14789703488349915,
+              -0.4181548058986664,
+              0.7766166925430298
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1259152516722679,
+              -0.06289777159690857,
+              0.0341416597366333
+            ],
+            "min_contact_pad_to_button": 0.020924583404173577,
+            "closest_contact_pad": [
+              0.1479187160730362,
+              -0.41862841420662933,
+              0.789585846142992
+            ],
+            "closest_contact_pad_button": [
+              0.1479187160730362,
+              -0.41813918948173523,
+              0.7686669826507568
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004892247248940995,
+              0.02091886349223515
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2ddc97cc2f86829a515d18f01ccffb7da3f4217e03d45eb0821a42c53675e16",
+    "visual_seed": 1893592530851417310,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d5222c703817d914cd32e8f89d432a45c17af1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_13_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22763838477077894,
+              -0.0523524948650638,
+              1.1590543373748827
+            ],
+            "current_z": 1.1590543373748827,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3024677703616724,
+            "gripper_z": 1.1524991031477745,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22305629419947492,
+              -0.056924405970078334,
+              1.1524991031477745
+            ],
+            "object_minus_gripper": [
+              0.004582090571304015,
+              0.004571911105014537,
+              0.006555234227108242
+            ],
+            "object_to_gripper_xy": 0.006472860662472845,
+            "object_to_gripper_z": 0.006555234227108242,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22763838477077894,
+              -0.0758834092947504,
+              1.1590543373748827
+            ],
+            "finger_b": [
+              0.2171759417393112,
+              -0.0523524948650638,
+              1.1590543373748827
+            ],
+            "finger_midpoint": [
+              0.22240716325504506,
+              -0.0641179520799071,
+              1.1590543373748827
+            ],
+            "object_minus_finger_midpoint": [
+              0.00523122151573388,
+              0.011765457214843303,
+              0.0
+            ],
+            "finger_gap": 0.025752022213487255,
+            "fingertip_max_gap": 0.0928749715750235,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012876011106743633,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1590543373748827,
+            "object_top_z": 1.2050133998859835,
+            "finger_top_clearance": 0.04595906251110082,
+            "fingertip_min_top_clearance": 0.01378771875333028,
+            "object_projection_between_fingers": 0.8349393557366407,
+            "object_to_finger_line_xy": 0.00956005899878414,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04893748578751175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6756472039804589,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29784073652003795,
+              -0.3594084172169808,
+              0.8470197525770504
+            ],
+            "target_position": [
+              0.29021669854124105,
+              -0.3602734745598141,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007672957663673601,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18668466610270254,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197525770504,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528287760710375,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616538463909328,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15549143408176985,
+            "release_required_pad_clearance": 0.05308269231954664,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.192865571243697,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008094370365142822,
+            "max_z_decrease": 0.008094370365142822,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511175030780317,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008094370365142822,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106218782438534,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008094370365142822,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008094389076035755,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1459166258573532,
+              -0.41653493046760554,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1459166258573532,
+              -0.41653493046760554,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14486009899388974,
+              -0.4176210875797127,
+              0.8037928553628833
+            ],
+            "closest_button": [
+              0.14592166244983673,
+              -0.41651827096939087,
+              0.7687144875526428
+            ],
+            "closest_ee_minus_button": [
+              -0.00106156345594699,
+              -0.001102816610321855,
+              0.03507836781024043
+            ],
+            "button_min_z_position": [
+              0.14592166244983673,
+              -0.41651827096939087,
+              0.7687144875526428
+            ],
+            "min_active_finger_to_button": 0.14659940591675757,
+            "closest_active_finger": [
+              0.004103697836399078,
+              -0.40211308002471924,
+              0.8109581470489502
+            ],
+            "closest_active_finger_button": [
+              0.1459195464849472,
+              -0.4165346920490265,
+              0.7767285108566284
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14181584864854813,
+              0.014421612024307251,
+              0.03422963619232178
+            ],
+            "min_contact_pad_to_button": 0.02106218782438534,
+            "closest_contact_pad": [
+              0.14592166244983673,
+              -0.4187468693544361,
+              0.7896584390706315
+            ],
+            "closest_contact_pad_button": [
+              0.14592166244983673,
+              -0.41651827096939087,
+              0.7687144875526428
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002228598385045244,
+              0.020943951517988668
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "972f4ded78f727878bb2027156d30e9b9df8063e6cc75fa874cc237fbf5b3a81",
+    "visual_seed": 1663755478570347734,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4affcd2dccf264caefb2c510d03d1d8e2745965b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_14_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22429242470578065,
+              -0.05246797325204863,
+              1.1623807074288826
+            ],
+            "current_z": 1.1623807074288826,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.305794200020317,
+            "gripper_z": 1.1559544542754947,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21939919598123506,
+              -0.057206150297876054,
+              1.1559544542754947
+            ],
+            "object_minus_gripper": [
+              0.00489322872454559,
+              0.004738177045827421,
+              0.006426253153387851
+            ],
+            "object_to_gripper_xy": 0.0068113147826483495,
+            "object_to_gripper_z": 0.006426253153387851,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22429242470578065,
+              -0.07635213087217169,
+              1.1623807074288826
+            ],
+            "finger_b": [
+              0.21376116564969644,
+              -0.05246797325204863,
+              1.1623807074288826
+            ],
+            "finger_midpoint": [
+              0.21902679517773854,
+              -0.06441005206211016,
+              1.1623807074288826
+            ],
+            "object_minus_finger_midpoint": [
+              0.005265629528042104,
+              0.011942078810061527,
+              0.0
+            ],
+            "finger_gap": 0.026102881115486806,
+            "fingertip_max_gap": 0.0928876030612047,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013051440557743403,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623807074288826,
+            "object_top_z": 1.2083134340845612,
+            "finger_top_clearance": 0.0459327266556786,
+            "fingertip_min_top_clearance": 0.013779817996703548,
+            "object_projection_between_fingers": 0.8372265002564535,
+            "object_to_finger_line_xy": 0.009636110669968582,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04894380153060235,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6940512889396815,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29904047964846464,
+              -0.3624009378036783,
+              0.8470195401081242
+            ],
+            "target_position": [
+              0.2910195413862611,
+              -0.36353612110197764,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008100869812977989,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1884863579192894,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195401081242,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545502728542156,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08739987153268018,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15665772840274167,
+            "release_required_pad_clearance": 0.05369993576634009,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4092703697050952,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008149683475494385,
+            "max_z_decrease": 0.008149683475494385,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501939712103005,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008149683475494385,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02090304870993787,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008149683475494385,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008149763590924732,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1467194706201553,
+              -0.41979756951332087,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1467194706201553,
+              -0.41979756951332087,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14634411695291233,
+              -0.41956857037114675,
+              0.8036756530482626
+            ],
+            "closest_button": [
+              0.1467468589544296,
+              -0.41977399587631214,
+              0.7686591744422913
+            ],
+            "closest_ee_minus_button": [
+              -0.00040274200151727,
+              0.00020542550516539082,
+              0.035016478605971346
+            ],
+            "button_min_z_position": [
+              0.1467468589544296,
+              -0.41977399587631214,
+              0.7686591744422913
+            ],
+            "min_active_finger_to_button": 0.1459927754759122,
+            "closest_active_finger": [
+              0.019676603376865387,
+              -0.4830985367298126,
+              0.8108122944831848
+            ],
+            "closest_active_finger_button": [
+              0.14672027528285975,
+              -0.4197974503040313,
+              0.7766543030738831
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12704367190599436,
+              -0.0633010864257813,
+              0.03415799140930176
+            ],
+            "min_contact_pad_to_button": 0.02090304870993787,
+            "closest_contact_pad": [
+              0.1467468589544296,
+              -0.4206961208652307,
+              0.7895418737619397
+            ],
+            "closest_contact_pad_button": [
+              0.1467468589544296,
+              -0.41977399587631214,
+              0.7686591744422913
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009221249889185823,
+              0.02088269931964848
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "126afbd4cb5ae827a0206f053f9ff853a68a9e46a5ab8a12d4ff5404689041c9",
+    "visual_seed": 3749735088883680578,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fc3526ec3509209f678be85d0d956b12a83f4d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_15_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22666599690202208,
+              -0.05035244452566841,
+              1.1615994790170137
+            ],
+            "current_z": 1.1615994790170137,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3050129716084481,
+            "gripper_z": 1.1551153864293597,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2219807862185397,
+              -0.05506349535090145,
+              1.1551153864293597
+            ],
+            "object_minus_gripper": [
+              0.004685210683482377,
+              0.004711050825233043,
+              0.006484092587653922
+            ],
+            "object_to_gripper_xy": 0.006644185354619958,
+            "object_to_gripper_z": 0.006484092587653922,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22666599690202208,
+              -0.07379857821356031,
+              1.1615994790170137
+            ],
+            "finger_b": [
+              0.21578937769207474,
+              -0.05035244452566841,
+              1.1615994790170137
+            ],
+            "finger_midpoint": [
+              0.2212276872970484,
+              -0.06207551136961436,
+              1.1615994790170137
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054383096049736845,
+              0.011723066843945952,
+              0.0
+            ],
+            "finger_gap": 0.02584612215301737,
+            "fingertip_max_gap": 0.09262262745893768,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01292306107650869,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1615994790170137,
+            "object_top_z": 1.207526430779541,
+            "finger_top_clearance": 0.04592695176252737,
+            "fingertip_min_top_clearance": 0.013778085528758177,
+            "object_projection_between_fingers": 0.8229087663823832,
+            "object_to_finger_line_xy": 0.009866651041844874,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881131372946884,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5834283317440816,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2958906023203338,
+              -0.36574587087905774,
+              0.8470197051623801
+            ],
+            "target_position": [
+              0.2878462633412456,
+              -0.36690019977046584,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008126737648036748,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18592907581308296,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197051623801,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583130950185718,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08677019769974868,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15337584656866635,
+            "release_required_pad_clearance": 0.05338509884987434,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7848192885746594,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00809633731842041,
+            "max_z_decrease": 0.00809633731842041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513118354036566,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00809633731842041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020924359111702297,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00809633731842041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008096354357696118,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1435461938381195,
+              -0.42316165566444397,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1435461938381195,
+              -0.42316165566444397,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14160143118599228,
+              -0.42196915164743976,
+              0.8037696242572335
+            ],
+            "closest_button": [
+              0.14355394244194028,
+              -0.42314696311950684,
+              0.7687125205993652
+            ],
+            "closest_ee_minus_button": [
+              -0.001952511255948003,
+              0.0011778114720670807,
+              0.035057103657868294
+            ],
+            "button_min_z_position": [
+              0.14355394244194028,
+              -0.42314696311950684,
+              0.7687125205993652
+            ],
+            "min_active_finger_to_button": 0.1469707414526787,
+            "closest_active_finger": [
+              0.014556914567947388,
+              -0.4847559332847595,
+              0.8108872771263123
+            ],
+            "closest_active_finger_button": [
+              0.14354963600635529,
+              -0.42316389083862305,
+              0.7767156958580017
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1289927214384079,
+              -0.061592042446136475,
+              0.03417158126831055
+            ],
+            "min_contact_pad_to_button": 0.020924359111702297,
+            "closest_contact_pad": [
+              0.14355394244194028,
+              -0.4231708584086086,
+              0.7896368660670409
+            ],
+            "closest_contact_pad_button": [
+              0.14355394244194028,
+              -0.42314696311950684,
+              0.7687125205993652
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -2.3895289101738548e-05,
+              0.02092434546767563
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2cad8ccaf75234b1b302baaba6b9debccf821d6c79a73ee63a5e3940f4f7c7aa",
+    "visual_seed": 9219937909770033809,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..02dcf8e64c87f54b6c587ff97f73bbc80bb59db8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_16_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22269760794608734,
+              -0.045943380412550965,
+              1.158951834649388
+            ],
+            "current_z": 1.158951834649388,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3023653272408222,
+            "gripper_z": 1.1523598185668869,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21794815062965323,
+              -0.05054749514808214,
+              1.1523598185668869
+            ],
+            "object_minus_gripper": [
+              0.004749457316434114,
+              0.004604114735531177,
+              0.00659201608250104
+            ],
+            "object_to_gripper_xy": 0.006614772656604674,
+            "object_to_gripper_z": 0.00659201608250104,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22269760794608734,
+              -0.06969258206710231,
+              1.158951834649388
+            ],
+            "finger_b": [
+              0.2123250349139783,
+              -0.045943380412550965,
+              1.158951834649388
+            ],
+            "finger_midpoint": [
+              0.21751132143003282,
+              -0.057817981239826635,
+              1.158951834649388
+            ],
+            "object_minus_finger_midpoint": [
+              0.005186286516054517,
+              0.01187460082727567,
+              0.0
+            ],
+            "finger_gap": 0.02591553299731611,
+            "fingertip_max_gap": 0.09229222603187376,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012957766498658051,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158951834649388,
+            "object_top_z": 1.2049198520548692,
+            "finger_top_clearance": 0.04596801740548129,
+            "fingertip_min_top_clearance": 0.013790405221644386,
+            "object_projection_between_fingers": 0.839803614793905,
+            "object_to_finger_line_xy": 0.009505508863801103,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864611301593688,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1110772058710807,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2994402867680723,
+              -0.3618397908596086,
+              0.8470193039298862
+            ],
+            "target_position": [
+              0.29166516277832116,
+              -0.36281357073915405,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007835866276922466,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18676195025590078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193039298862,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522654036116151,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616875837605119,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1556184740470484,
+            "release_required_pad_clearance": 0.053084379188025596,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1967961585188729,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008155345916748047,
+            "max_z_decrease": 0.008155345916748047,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511544657844056,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008155345916748047,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02091963430230126,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008155345916748047,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815541547115863,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14736509323120117,
+              -0.41907504200935364,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14736509323120117,
+              -0.41907504200935364,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.149050574462361,
+              -0.4175541708072013,
+              0.8036976624505244
+            ],
+            "closest_button": [
+              0.14738985896110535,
+              -0.41905221343040466,
+              0.7686535120010376
+            ],
+            "closest_ee_minus_button": [
+              0.0016607155012556551,
+              0.001498042623203355,
+              0.03504415044948683
+            ],
+            "button_min_z_position": [
+              0.14738985896110535,
+              -0.41905221343040466,
+              0.7686535120010376
+            ],
+            "min_active_finger_to_button": 0.14364735411237745,
+            "closest_active_finger": [
+              0.023038364946842194,
+              -0.48239490389823914,
+              0.8107946515083313
+            ],
+            "closest_active_finger_button": [
+              0.14736513793468475,
+              -0.419075071811676,
+              0.7766184210777283
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12432677298784256,
+              -0.06331983208656311,
+              0.03417623043060303
+            ],
+            "min_contact_pad_to_button": 0.02091963430230126,
+            "closest_contact_pad": [
+              0.14738985896110535,
+              -0.41905221343040466,
+              0.7895731463033389
+            ],
+            "closest_contact_pad_button": [
+              0.14738985896110535,
+              -0.41905221343040466,
+              0.7686535120010376
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02091963430230126
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de8e8a5502c26a683227c16146b4ea4d0cafd8ff148e246607383c01ca93134a",
+    "visual_seed": 3033920626770711052,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..420a9ed95c015a3c05910987bcdb331d8317d13b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_17_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22088477658265063,
+              -0.05401615989713125,
+              1.1608222967144701
+            ],
+            "current_z": 1.1608222967144701,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.30423572970126,
+            "gripper_z": 1.1542313888407922,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21638439560153222,
+              -0.058491315257782214,
+              1.1542313888407922
+            ],
+            "object_minus_gripper": [
+              0.004500380981118407,
+              0.004475155360650962,
+              0.006590907873677887
+            ],
+            "object_to_gripper_xy": 0.006346687677613837,
+            "object_to_gripper_z": 0.006590907873677887,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22088477658265063,
+              -0.07770297481830017,
+              1.1608222967144701
+            ],
+            "finger_b": [
+              0.21084937294157424,
+              -0.05401615989713125,
+              1.1608222967144701
+            ],
+            "finger_midpoint": [
+              0.21586707476211242,
+              -0.06585956735771571,
+              1.1608222967144701
+            ],
+            "object_minus_finger_midpoint": [
+              0.005017701820538206,
+              0.01184340746058446,
+              0.0
+            ],
+            "finger_gap": 0.02572497866566734,
+            "fingertip_max_gap": 0.09274608877999871,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012862489332833675,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1608222967144701,
+            "object_top_z": 1.2068454700045823,
+            "finger_top_clearance": 0.046023173290112185,
+            "fingertip_min_top_clearance": 0.013806951987033621,
+            "object_projection_between_fingers": 0.8478192766911804,
+            "object_to_finger_line_xy": 0.009240308876238062,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887304438999936,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4195494662502082,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 321,
+            "max_stable_success_frames": 321,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2949177504869762,
+              -0.36687514924391845,
+              0.8470195550448798
+            ],
+            "target_position": [
+              0.2881703546560446,
+              -0.3672065962053914,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006755531628787084,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1874865893216171,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195550448798,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521687885342385,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08692108199473879,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1561894981357238,
+            "release_required_pad_clearance": 0.053460540997369396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9342463367478306,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00814145803451538,
+            "max_z_decrease": 0.00814145803451538,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504261182760382,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00814145803451538,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02093146837586571,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00814145803451538,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008141523354472715,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14387027919292444,
+              -0.42346805334091187,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14387027919292444,
+              -0.42346805334091187,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14331195731650512,
+              -0.4231557987396855,
+              0.8037038823878054
+            ],
+            "closest_button": [
+              0.14389753341674802,
+              -0.42345014214515686,
+              0.7686673998832703
+            ],
+            "closest_ee_minus_button": [
+              -0.0005855761002429016,
+              0.0002943434054713534,
+              0.03503648250453517
+            ],
+            "button_min_z_position": [
+              0.14389753341674802,
+              -0.42345014214515686,
+              0.7686673998832703
+            ],
+            "min_active_finger_to_button": 0.14611284449250506,
+            "closest_active_finger": [
+              0.016141749918460846,
+              -0.4856588840484619,
+              0.8107627034187317
+            ],
+            "closest_active_finger_button": [
+              0.14387051761150355,
+              -0.4234683811664581,
+              0.7766062021255493
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277287676930427,
+              -0.06219050288200384,
+              0.03415650129318237
+            ],
+            "min_contact_pad_to_button": 0.02093146837586571,
+            "closest_contact_pad": [
+              0.14389753341674802,
+              -0.4243832657948175,
+              0.7895780586157041
+            ],
+            "closest_contact_pad_button": [
+              0.14389753341674802,
+              -0.42345014214515686,
+              0.7686673998832703
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009331236496606388,
+              0.020910658732433807
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f33727c194c78bfc6a0fc1bc554cc8cfe5dc519e5de8667c9fbcb25dc016c92",
+    "visual_seed": 7567545610928746544,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa7d3a8b141f39b563821b3007a9091ebae9c6f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_18_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22821230650313604,
+              -0.04493672643957755,
+              1.158177466368575
+            ],
+            "current_z": 1.158177466368575,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3015909589600094,
+            "gripper_z": 1.1517656667011564,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2232875334288813,
+              -0.04968045959149238,
+              1.1517656667011564
+            ],
+            "object_minus_gripper": [
+              0.004924773074254735,
+              0.004743733151914828,
+              0.006411799667418672
+            ],
+            "object_to_gripper_xy": 0.0068378647288082715,
+            "object_to_gripper_z": 0.006411799667418672,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22821230650313604,
+              -0.06875612744590778,
+              1.158177466368575
+            ],
+            "finger_b": [
+              0.2175401712831973,
+              -0.04493672643957755,
+              1.158177466368575
+            ],
+            "finger_midpoint": [
+              0.22287623889316666,
+              -0.05684642694274267,
+              1.158177466368575
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053360676099693805,
+              0.011909700503165116,
+              0.0
+            ],
+            "finger_gap": 0.026100925930951615,
+            "fingertip_max_gap": 0.09240433417299473,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013050462965475813,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158177466368575,
+            "object_top_z": 1.2041020178185762,
+            "finger_top_clearance": 0.04592455145000107,
+            "fingertip_min_top_clearance": 0.013777365435000322,
+            "object_projection_between_fingers": 0.8328175019772759,
+            "object_to_finger_line_xy": 0.00973926630304157,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870216708649737,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2055188606610276,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29403608677460813,
+              -0.36522897859339853,
+              0.8470192442531723
+            ],
+            "target_position": [
+              0.28629848412214315,
+              -0.3663098835901093,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007812736423260892,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1873886736719614,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192442531723,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577788247892372,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867722468961709,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1548738674575853,
+            "release_required_pad_clearance": 0.05338612344808545,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7856957529888706,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008144021034240723,
+            "max_z_decrease": 0.008144021034240723,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503103709523124,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008144021034240723,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020978204767516377,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008144021034240723,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008144087211940619,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14199841022491452,
+              -0.4225713312625885,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14199841022491452,
+              -0.4225713312625885,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14171782630499197,
+              -0.4232796961266282,
+              0.8036869782040116
+            ],
+            "closest_button": [
+              0.14202542603015894,
+              -0.4225526750087738,
+              0.7686648368835449
+            ],
+            "closest_ee_minus_button": [
+              -0.00030759972516697376,
+              -0.0007270211178543873,
+              0.03502214132046666
+            ],
+            "button_min_z_position": [
+              0.14202542603015894,
+              -0.4225526750087738,
+              0.7686648368835449
+            ],
+            "min_active_finger_to_button": 0.14590693884832773,
+            "closest_active_finger": [
+              0.0009540989995002747,
+              -0.40771254897117615,
+              0.8109468221664429
+            ],
+            "closest_active_finger_button": [
+              0.14199975132942194,
+              -0.422570526599884,
+              0.7766802310943604
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14104565232992167,
+              0.01485797762870783,
+              0.03426659107208252
+            ],
+            "min_contact_pad_to_button": 0.020978204767516377,
+            "closest_contact_pad": [
+              0.14202542603015894,
+              -0.42441116298747106,
+              0.7895605564859153
+            ],
+            "closest_contact_pad_button": [
+              0.14202542603015894,
+              -0.4225526750087738,
+              0.7686648368835449
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018584879786972541,
+              0.020895719602370355
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dfe6d5d53cdd5e27a3d01a66ba9b27802a5f3c6f841a51f4c4e1f74e59c09e81",
+    "visual_seed": 1401602153042168598,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af1c619aa00b87e66eb946bbc3f8079ad007a0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_19_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22812263442420022,
+              -0.048544903784656576,
+              1.1591284584987627
+            ],
+            "current_z": 1.1591284584987627,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30254189148555233,
+            "gripper_z": 1.1524837345686594,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22355149869233373,
+              -0.05316380188858315,
+              1.1524837345686594
+            ],
+            "object_minus_gripper": [
+              0.004571135731866488,
+              0.004618898103926572,
+              0.006644723930103291
+            ],
+            "object_to_gripper_xy": 0.0064984230066688535,
+            "object_to_gripper_z": 0.006644723930103291,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22812263442420022,
+              -0.07202495238808258,
+              1.1591284584987627
+            ],
+            "finger_b": [
+              0.2175318014308646,
+              -0.048544903784656576,
+              1.1591284584987627
+            ],
+            "finger_midpoint": [
+              0.2228272179275324,
+              -0.06028492808636958,
+              1.1591284584987627
+            ],
+            "object_minus_finger_midpoint": [
+              0.005295416496667815,
+              0.011740024301713003,
+              0.0
+            ],
+            "finger_gap": 0.025758074965182745,
+            "fingertip_max_gap": 0.09265296661882616,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012879037482591373,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1591284584987627,
+            "object_top_z": 1.2050992621242282,
+            "finger_top_clearance": 0.04597080362546557,
+            "fingertip_min_top_clearance": 0.013791241087639638,
+            "object_projection_between_fingers": 0.8309428926214883,
+            "object_to_finger_line_xy": 0.009654187037285234,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882648330941308,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.482843121210441,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29751366087895226,
+              -0.36262489825799604,
+              0.8470198786068135
+            ],
+            "target_position": [
+              0.2891440081482002,
+              -0.3637603799347855,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008446324968393665,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18715235074236797,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198786068135,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554318830513339,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862038635119433,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15521929754211045,
+            "release_required_pad_clearance": 0.05310193175597165,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2303337366216658,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008179962635040283,
+            "max_z_decrease": 0.008179962635040283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035093390357256574,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008179962635040283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108478606744659,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008179962635040283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008180068044153343,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14484393596649164,
+              -0.42002183198928833,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14484393596649164,
+              -0.42002183198928833,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1467828887637614,
+              -0.4217643677251616,
+              0.8036255675362455
+            ],
+            "closest_button": [
+              0.14487425982952115,
+              -0.41999346017837524,
+              0.7686288952827454
+            ],
+            "closest_ee_minus_button": [
+              0.0019086289342402363,
+              -0.0017709075467863822,
+              0.034996672253500116
+            ],
+            "button_min_z_position": [
+              0.14487425982952115,
+              -0.41999346017837524,
+              0.7686288952827454
+            ],
+            "min_active_finger_to_button": 0.14361824428052067,
+            "closest_active_finger": [
+              0.006213262677192688,
+              -0.404584676027298,
+              0.8107345700263977
+            ],
+            "closest_active_finger_button": [
+              0.1448433697223663,
+              -0.42002248764038086,
+              0.7765356302261353
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13863010704517362,
+              0.015437811613082886,
+              0.03419893980026245
+            ],
+            "min_contact_pad_to_button": 0.02108478606744659,
+            "closest_contact_pad": [
+              0.14487425982952115,
+              -0.4230418738491536,
+              0.7894921495255954
+            ],
+            "closest_contact_pad_button": [
+              0.14487425982952115,
+              -0.41999346017837524,
+              0.7686288952827454
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030484136707783493,
+              0.02086325424285007
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "258eaf7ec837721713101da02cf5d47e18a9998b4fd1d775aff32b6396e8f0d5",
+    "visual_seed": 8674582717801464208,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a7cc67fb5875ace6501d55810d2be0cba98da4b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_1_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22382770210427466,
+              -0.05227127703304952,
+              1.1590504344943569
+            ],
+            "current_z": 1.1590504344943569,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3024638674811465,
+            "gripper_z": 1.1524564109078894,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2192224074284106,
+              -0.056906322743981066,
+              1.1524564109078894
+            ],
+            "object_minus_gripper": [
+              0.004605294675864069,
+              0.004635045710931547,
+              0.006594023586467435
+            ],
+            "object_to_gripper_xy": 0.006533941214456009,
+            "object_to_gripper_z": 0.006594023586467435,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22382770210427466,
+              -0.07581168841432859,
+              1.1590504344943569
+            ],
+            "finger_b": [
+              0.21325125272729553,
+              -0.05227127703304952,
+              1.1590504344943569
+            ],
+            "finger_midpoint": [
+              0.2185394774157851,
+              -0.06404148272368905,
+              1.1590504344943569
+            ],
+            "object_minus_finger_midpoint": [
+              0.005288224688489551,
+              0.01177020569063953,
+              0.0
+            ],
+            "finger_gap": 0.025807213127799277,
+            "fingertip_max_gap": 0.09267911224820757,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01290360656389963,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1590504344943569,
+            "object_top_z": 1.2049933721539285,
+            "finger_top_clearance": 0.04594293765957169,
+            "fingertip_min_top_clearance": 0.013782881297871474,
+            "object_projection_between_fingers": 0.8320432071322964,
+            "object_to_finger_line_xy": 0.009647456625960478,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883955612410379,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.528151766175649,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 319,
+            "max_stable_success_frames": 319,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2913270018953219,
+              -0.36564801795563634,
+              0.8470197093500073
+            ],
+            "target_position": [
+              0.2833166679612407,
+              -0.3666331661145535,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008070685635713384,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18725445847933608,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197093500073,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565515648706056,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870528103084056,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15499679528466676,
+            "release_required_pad_clearance": 0.0535264051542028,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.064606891199009,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007995069026947021,
+            "max_z_decrease": 0.007995069026947021,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035161548959317876,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007995069026947021,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021033076033993514,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007995069026947021,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0079950960790604,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13901659846305842,
+              -0.4228946268558502,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13901659846305842,
+              -0.4228946268558502,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13717427604147747,
+              -0.42164924756861144,
+              0.8081013029009662
+            ],
+            "closest_button": [
+              0.13901197910308832,
+              -0.4228927791118622,
+              0.7730098366737366
+            ],
+            "closest_ee_minus_button": [
+              -0.0018377030616108514,
+              0.0012435315432507421,
+              0.035091466227229584
+            ],
+            "button_min_z_position": [
+              0.13899627327919,
+              -0.4228902161121368,
+              0.7688137888908386
+            ],
+            "min_active_finger_to_button": 0.14723827500852701,
+            "closest_active_finger": [
+              0.010910913348197937,
+              -0.4868625998497009,
+              0.8106182217597961
+            ],
+            "closest_active_finger_button": [
+              0.13901674747467035,
+              -0.42289459705352783,
+              0.7763239145278931
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12810583412647242,
+              -0.0639680027961731,
+              0.034294307231903076
+            ],
+            "min_contact_pad_to_button": 0.021033076033993514,
+            "closest_contact_pad": [
+              0.13899627327919,
+              -0.4228902161121368,
+              0.7898468649248321
+            ],
+            "closest_contact_pad_button": [
+              0.13899627327919,
+              -0.4228902161121368,
+              0.7688137888908386
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021033076033993514
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c7ee699636b58d14a67c7abdfd59a213b91c91d3563412e7019a93e1313e901",
+    "visual_seed": 2192875581014282165,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dde867f7524f38c80e86b13d86ad56e0b32f0598
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_20_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22133426161381559,
+              -0.05305899698082447,
+              1.1593891130711997
+            ],
+            "current_z": 1.1593891130711997,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.3028027248719237,
+            "gripper_z": 1.1528226248225797,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21665150655777277,
+              -0.05761744065960578,
+              1.1528226248225797
+            ],
+            "object_minus_gripper": [
+              0.00468275505604282,
+              0.004558443678781311,
+              0.00656648824862005
+            ],
+            "object_to_gripper_xy": 0.006535105484038945,
+            "object_to_gripper_z": 0.00656648824862005,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22133426161381559,
+              -0.0767630059763137,
+              1.1593891130711997
+            ],
+            "finger_b": [
+              0.21101173975806506,
+              -0.05305899698082447,
+              1.1593891130711997
+            ],
+            "finger_midpoint": [
+              0.2161730006859403,
+              -0.06491100147856908,
+              1.1593891130711997
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051612609278752775,
+              0.011852004497744616,
+              0.0
+            ],
+            "finger_gap": 0.02585410025355131,
+            "fingertip_max_gap": 0.09233536266640963,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012927050126775658,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1593891130711997,
+            "object_top_z": 1.2053152070694524,
+            "finger_top_clearance": 0.04592609399825265,
+            "fingertip_min_top_clearance": 0.013777828199475761,
+            "object_projection_between_fingers": 0.8405910265327549,
+            "object_to_finger_line_xy": 0.009464075273369255,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048667681333204815,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2226541982695411,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 321,
+            "max_stable_success_frames": 321,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29220148311597505,
+              -0.3613559483329033,
+              0.8470196665643777
+            ],
+            "target_position": [
+              0.28513213026053286,
+              -0.36172546978302395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007079003877442639,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18561613255496828,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196665643777,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515691867300943,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858650940210358,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15465227713274318,
+            "release_required_pad_clearance": 0.0529325470105179,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9022158401211502,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007894039154052734,
+            "max_z_decrease": 0.007894039154052734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351305050555088,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007894039154052734,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021022108773303974,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007894039154052734,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007894059793678241,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14083205163478846,
+              -0.41798692941665655,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14083205163478846,
+              -0.41798692941665655,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13946006200231498,
+              -0.4178725556985451,
+              0.8072463033974256
+            ],
+            "closest_button": [
+              0.14081983268260956,
+              -0.4179808497428894,
+              0.7721422910690308
+            ],
+            "closest_ee_minus_button": [
+              -0.0013597706802945808,
+              0.00010829404434431478,
+              0.035104012328394885
+            ],
+            "button_min_z_position": [
+              0.140814334154129,
+              -0.4179834723472595,
+              0.7689148187637329
+            ],
+            "min_active_finger_to_button": 0.14726202640017055,
+            "closest_active_finger": [
+              0.01329515129327774,
+              -0.4831349551677704,
+              0.8106244206428528
+            ],
+            "closest_active_finger_button": [
+              0.14083217084407804,
+              -0.41798859834671026,
+              0.7763262391090393
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275370195508003,
+              -0.06514635682106013,
+              0.03429818153381348
+            ],
+            "min_contact_pad_to_button": 0.021022108773303974,
+            "closest_contact_pad": [
+              0.140814334154129,
+              -0.41878891748447644,
+              0.7899214918798538
+            ],
+            "closest_contact_pad_button": [
+              0.140814334154129,
+              -0.4179834723472595,
+              0.7689148187637329
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008054451372169202,
+              0.021006673116120922
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4c9728606059d09bca5caeea8da636b73f5bfd8d2ef2b9d68372e67b91fbdf2",
+    "visual_seed": 1269916849576988965,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f658fd9998a157607d12b8c158d32783500302f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_21_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22918063570806194,
+              -0.04588636461796202,
+              1.159388721975339
+            ],
+            "current_z": 1.159388721975339,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30280227417141814,
+            "gripper_z": 1.1530498049537352,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22446203424185807,
+              -0.05046975060718119,
+              1.1530498049537352
+            ],
+            "object_minus_gripper": [
+              0.00471860146620387,
+              0.004583385989219167,
+              0.006338917021603718
+            ],
+            "object_to_gripper_xy": 0.006578193287144417,
+            "object_to_gripper_z": 0.006338917021603718,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22918063570806194,
+              -0.06962478206372587,
+              1.159388721975339
+            ],
+            "finger_b": [
+              0.21881249834163788,
+              -0.04588636461796202,
+              1.159388721975339
+            ],
+            "finger_midpoint": [
+              0.2239965670248499,
+              -0.05775557334084394,
+              1.159388721975339
+            ],
+            "object_minus_finger_midpoint": [
+              0.005184068683212029,
+              0.01186920872288192,
+              0.0
+            ],
+            "finger_gap": 0.025903874908561154,
+            "fingertip_max_gap": 0.09272104863137637,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012951937454280573,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159388721975339,
+            "object_top_z": 1.2052900607085555,
+            "finger_top_clearance": 0.04590133873321656,
+            "fingertip_min_top_clearance": 0.013770401619964966,
+            "object_projection_between_fingers": 0.8397964938602052,
+            "object_to_finger_line_xy": 0.009501403701492325,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048860524315688186,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6029710538143032,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29148354071171334,
+              -0.36160804179903683,
+              0.8470196577905749
+            ],
+            "target_position": [
+              0.2849261277995499,
+              -0.3618904654541892,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006563491999050309,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18625923936884498,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196577905749,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571066773418735,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871405928443748,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537804441920046,
+            "release_required_pad_clearance": 0.0535702964221874,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1514919166569886,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007745862007141113,
+            "max_z_decrease": 0.007745862007141113,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514782995905124,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007745862007141113,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021093255173621348,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007745862007141113,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007745885745087725,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14062605798244476,
+              -0.4181519150733948,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14062605798244476,
+              -0.4181519150733948,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13917652646912462,
+              -0.41869257813805044,
+              0.8082627298902303
+            ],
+            "closest_button": [
+              0.14061503112316132,
+              -0.41815415024757385,
+              0.7731484770774841
+            ],
+            "closest_ee_minus_button": [
+              -0.001438504654036693,
+              -0.0005384278904765893,
+              0.03511425281274616
+            ],
+            "button_min_z_position": [
+              0.14060713350772858,
+              -0.41814881563186646,
+              0.7690629959106445
+            ],
+            "min_active_finger_to_button": 0.14747914686100888,
+            "closest_active_finger": [
+              -0.0017899870872497559,
+              -0.4008925259113312,
+              0.8106799125671387
+            ],
+            "closest_active_finger_button": [
+              0.140624925494194,
+              -0.4181530177593231,
+              0.7764722108840942
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14241491258144376,
+              0.017260491847991943,
+              0.034207701683044434
+            ],
+            "min_contact_pad_to_button": 0.021093255173621348,
+            "closest_contact_pad": [
+              0.14060713350772858,
+              -0.4200167487266536,
+              0.7900733800045373
+            ],
+            "closest_contact_pad_button": [
+              0.14060713350772858,
+              -0.41814881563186646,
+              0.7690629959106445
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018679330947871664,
+              0.021010384093892776
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fe77205c4b907183b607c7358596a6c72ff66dba213bec08493ee0dd02d9c6b8",
+    "visual_seed": 6522954501520652364,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..14eb5854611210775943fbfb3297f47fc4f70e69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_22_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23054776748635747,
+              -0.05092928398692847,
+              1.1595722728335438
+            ],
+            "current_z": 1.1595722728335438,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30298576542497824,
+            "gripper_z": 1.1527118758959805,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22611903158364083,
+              -0.05556530092895444,
+              1.1527118758959805
+            ],
+            "object_minus_gripper": [
+              0.004428735902716641,
+              0.004636016942025971,
+              0.006860396937563351
+            ],
+            "object_to_gripper_xy": 0.0064114237718905474,
+            "object_to_gripper_z": 0.006860396937563351,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23054776748635747,
+              -0.07425242887544102,
+              1.1595722728335438
+            ],
+            "finger_b": [
+              0.2198407265206318,
+              -0.05092928398692847,
+              1.1595722728335438
+            ],
+            "finger_midpoint": [
+              0.22519424700349464,
+              -0.06259085643118474,
+              1.1595722728335438
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053535204828628336,
+              0.011661572444256273,
+              0.0
+            ],
+            "finger_gap": 0.025663394431218112,
+            "fingertip_max_gap": 0.09256214326093537,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012831697215609053,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1595722728335438,
+            "object_top_z": 1.2054929661500542,
+            "finger_top_clearance": 0.045920693316510386,
+            "fingertip_min_top_clearance": 0.013776207994953148,
+            "object_projection_between_fingers": 0.8259352899828959,
+            "object_to_finger_line_xy": 0.0097306639790053,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04878107163046769,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.388215357049857,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2916825035687008,
+              -0.3670647262101477,
+              0.8470191824385247
+            ],
+            "target_position": [
+              0.2859057185941526,
+              -0.3670398563692633,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005776838508315033,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853927238135678,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191824385247,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548003821615085,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580656869726049,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15354079667016804,
+            "release_required_pad_clearance": 0.052903284348630245,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8448719388352386,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008205711841583252,
+            "max_z_decrease": 0.008205711841583252,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503851972097614,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008205711841583252,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02092371691338637,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008205711841583252,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00820575281354521,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14160564541816711,
+              -0.4233013093471527,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14160564541816711,
+              -0.4233013093471527,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14308030475173558,
+              -0.4233318477862392,
+              0.8036110558708635
+            ],
+            "closest_button": [
+              0.14161701500415802,
+              -0.42327800393104553,
+              0.7686031460762024
+            ],
+            "closest_ee_minus_button": [
+              0.001463289747577562,
+              -5.38438551936915e-05,
+              0.03500790979466106
+            ],
+            "button_min_z_position": [
+              0.14161701500415802,
+              -0.42327800393104553,
+              0.7686031460762024
+            ],
+            "min_active_finger_to_button": 0.14431705970755088,
+            "closest_active_finger": [
+              0.0020802542567253113,
+              -0.40982767939567566,
+              0.8109962940216064
+            ],
+            "closest_active_finger_button": [
+              0.14160668849945068,
+              -0.4232998788356781,
+              0.7766700983047485
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13952643424272537,
+              0.013472199440002441,
+              0.03432619571685791
+            ],
+            "min_contact_pad_to_button": 0.02092371691338637,
+            "closest_contact_pad": [
+              0.14161701500415802,
+              -0.42428181563477135,
+              0.7895027702722255
+            ],
+            "closest_contact_pad_button": [
+              0.14161701500415802,
+              -0.42327800393104553,
+              0.7686031460762024
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001003811703725821,
+              0.020899624196023092
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ff95dea376b2e629f68f2837b6889a82528254a119270b27b3a64e28307b3a2",
+    "visual_seed": 4662456495326898050,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57251b3714982266842d99c6db823be31ef57f2f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_23_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22470893895838884,
+              -0.04431586276509486,
+              1.1607042486388683
+            ],
+            "current_z": 1.1607042486388683,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3041177412303028,
+            "gripper_z": 1.154135203812769,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22026539832220707,
+              -0.04897822631353013,
+              1.154135203812769
+            ],
+            "object_minus_gripper": [
+              0.00444354063618177,
+              0.004662363548435272,
+              0.006569044826099324
+            ],
+            "object_to_gripper_xy": 0.0064407054926596844,
+            "object_to_gripper_z": 0.006569044826099324,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22470893895838884,
+              -0.06756345817925004,
+              1.1607042486388683
+            ],
+            "finger_b": [
+              0.21385739045706867,
+              -0.04431586276509486,
+              1.1607042486388683
+            ],
+            "finger_midpoint": [
+              0.21928316470772874,
+              -0.05593966047217245,
+              1.1607042486388683
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425774250660098,
+              0.01162379770707759,
+              0.0
+            ],
+            "finger_gap": 0.02565554126142641,
+            "fingertip_max_gap": 0.09283665592861345,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01282777063071321,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1607042486388683,
+            "object_top_z": 1.2066083816655402,
+            "finger_top_clearance": 0.045904133026671845,
+            "fingertip_min_top_clearance": 0.013771239908001554,
+            "object_projection_between_fingers": 0.8210955806918762,
+            "object_to_finger_line_xy": 0.00983305737365477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891832796430673,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6949160623084518,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2949297895560756,
+              -0.3682174190454414,
+              0.8470195793595929
+            ],
+            "target_position": [
+              0.2891750161402821,
+              -0.3684639895731829,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00576005330637437,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18471868130547908,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195793595929,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584329687498796,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868544356586357,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15214350181138228,
+            "release_required_pad_clearance": 0.05342721782931785,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8675405567567192,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008210182189941406,
+            "max_z_decrease": 0.008210182189941406,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503195160757853,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008210182189941406,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020883148471907087,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008210182189941406,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008210235816378118,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1448749452829361,
+              -0.4247254431247711,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1448749452829361,
+              -0.4247254431247711,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14399022364739772,
+              -0.42336120670763633,
+              0.8035931658829735
+            ],
+            "closest_button": [
+              0.14489562809467316,
+              -0.4247041642665863,
+              0.7685986757278442
+            ],
+            "closest_ee_minus_button": [
+              -0.0009054044472754375,
+              0.0013429575589499754,
+              0.03499449015512923
+            ],
+            "button_min_z_position": [
+              0.14489562809467316,
+              -0.4247041642665863,
+              0.7685986757278442
+            ],
+            "min_active_finger_to_button": 0.1459655996683757,
+            "closest_active_finger": [
+              0.018058642745018005,
+              -0.4883839190006256,
+              0.8107792735099792
+            ],
+            "closest_active_finger_button": [
+              0.14487452805042267,
+              -0.4247251749038697,
+              0.7765557169914246
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12681588530540466,
+              -0.06365874409675593,
+              0.03422355651855469
+            ],
+            "min_contact_pad_to_button": 0.020883148471907087,
+            "closest_contact_pad": [
+              0.14489562809467316,
+              -0.4247041642665863,
+              0.7894818241997513
+            ],
+            "closest_contact_pad_button": [
+              0.14489562809467316,
+              -0.4247041642665863,
+              0.7685986757278442
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020883148471907087
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0cdcfe3cf74d4e482304659e63b4d8d65ca48a38e2f72cd7ee6d7396cfa386c2",
+    "visual_seed": 1256235853798999610,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df8ab22d0674053dc4ed128140584aa9ed19f32e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_24_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23196099329870973,
+              -0.05010336954742568,
+              1.161515966290729
+            ],
+            "current_z": 1.161515966290729,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30492951848680827,
+            "gripper_z": 1.154904467177969,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22734566882178003,
+              -0.05466280840547111,
+              1.154904467177969
+            ],
+            "object_minus_gripper": [
+              0.004615324476929694,
+              0.004559438858045425,
+              0.006611499112760155
+            ],
+            "object_to_gripper_xy": 0.00648765772275333,
+            "object_to_gripper_z": 0.006611499112760155,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23196099329870973,
+              -0.07386413000500913,
+              1.161515966290729
+            ],
+            "finger_b": [
+              0.22173535625027346,
+              -0.05010336954742568,
+              1.161515966290729
+            ],
+            "finger_midpoint": [
+              0.2268481747744916,
+              -0.06198374977621741,
+              1.161515966290729
+            ],
+            "object_minus_finger_midpoint": [
+              0.005112818524218132,
+              0.011880380228791725,
+              0.0
+            ],
+            "finger_gap": 0.0258676900895502,
+            "fingertip_max_gap": 0.09225113238151789,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0129338450447751,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161515966290729,
+            "object_top_z": 1.207464370555193,
+            "finger_top_clearance": 0.045948404264464004,
+            "fingertip_min_top_clearance": 0.013784521279339235,
+            "object_projection_between_fingers": 0.8437336569139642,
+            "object_to_finger_line_xy": 0.009392756430626833,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048625566190758945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0983683204915808,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2989524824530922,
+              -0.3649884884970881,
+              0.8470195458991139
+            ],
+            "target_position": [
+              0.291206871506238,
+              -0.36591826325770715,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0078012159337831535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18780214915713128,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195458991139,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513561001544791,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524461907783147,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15681993179940945,
+            "release_required_pad_clearance": 0.05262230953891574,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3038990919004044,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008021950721740723,
+            "max_z_decrease": 0.008021950721740723,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513207025688231,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008021950721740723,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021045461938258944,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008021950721740723,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008021980512894423,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1469067931175232,
+              -0.42217972874641413,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1469067931175232,
+              -0.42217972874641413,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14708782696432907,
+              -0.42163854171327453,
+              0.8082691294779956
+            ],
+            "closest_button": [
+              0.14689925312995908,
+              -0.4221802353858947,
+              0.7731417417526245
+            ],
+            "closest_ee_minus_button": [
+              0.0001885738343699872,
+              0.0005416936726201915,
+              0.03512738772537105
+            ],
+            "button_min_z_position": [
+              0.1468849331140518,
+              -0.4221794009208678,
+              0.7687869071960449
+            ],
+            "min_active_finger_to_button": 0.14575815366254016,
+            "closest_active_finger": [
+              0.02057262510061264,
+              -0.4863327145576477,
+              0.8107092380523682
+            ],
+            "closest_active_finger_button": [
+              0.14690643548965454,
+              -0.42217996716499323,
+              0.7765093445777893
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263338103890419,
+              -0.06415274739265447,
+              0.03419989347457886
+            ],
+            "min_contact_pad_to_button": 0.021045461938258944,
+            "closest_contact_pad": [
+              0.14688630402088163,
+              -0.4225089739785806,
+              0.7899130801076969
+            ],
+            "closest_contact_pad_button": [
+              0.14688630402088163,
+              -0.4221771359443664,
+              0.7688702344894409
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00033183803421421576,
+              0.02104284561825598
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "864c992e99eb15e0660b6658adf050ce74cb47d2d797c6e4e3c599d430ec2f59",
+    "visual_seed": 6718479835456880280,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dd3f1e73bd9259cc3eaf8f057b1a03e393968c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_25_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2240864199134998,
+              -0.05465920579205729,
+              1.1626023777974475
+            ],
+            "current_z": 1.1626023777974475,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3060158703888819,
+            "gripper_z": 1.155940336161738,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21967852429374593,
+              -0.05920056863490694,
+              1.155940336161738
+            ],
+            "object_minus_gripper": [
+              0.004407895619753882,
+              0.004541362842849651,
+              0.0066620416357094925
+            ],
+            "object_to_gripper_xy": 0.006328785054420866,
+            "object_to_gripper_z": 0.0066620416357094925,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2240864199134998,
+              -0.07800617046289995,
+              1.1626023777974475
+            ],
+            "finger_b": [
+              0.21354228409124437,
+              -0.05465920579205729,
+              1.1626023777974475
+            ],
+            "finger_midpoint": [
+              0.2188143520023721,
+              -0.06633268812747863,
+              1.1626023777974475
+            ],
+            "object_minus_finger_midpoint": [
+              0.00527206791112772,
+              0.011673482335421335,
+              0.0
+            ],
+            "finger_gap": 0.025617563498110937,
+            "fingertip_max_gap": 0.09274759688818274,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012808781749055472,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626023777974475,
+            "object_top_z": 1.208482887187694,
+            "finger_top_clearance": 0.04588050939024657,
+            "fingertip_min_top_clearance": 0.013764152817073938,
+            "object_projection_between_fingers": 0.8305871531846838,
+            "object_to_finger_line_xy": 0.009609562070370881,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887379844409137,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7619965380982547,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 319,
+            "max_stable_success_frames": 319,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29342326121049456,
+              -0.36738584065806235,
+              0.8470196918299371
+            ],
+            "target_position": [
+              0.28691353761867155,
+              -0.3679506090217448,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006534176654066948,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18437612780319954,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196918299371,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758025345818978,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649214938466825,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15180416005461986,
+            "release_required_pad_clearance": 0.053246074692334125,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5128104578466923,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008021712303161621,
+            "max_z_decrease": 0.008021712303161621,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520508901393365,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008021712303161621,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021053307100651873,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008021712303161621,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00802174081742048,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14261347055435178,
+              -0.4242120683193207,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14261347055435178,
+              -0.4242120683193207,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14474657951389772,
+              -0.42335617697674444,
+              0.8082729993530566
+            ],
+            "closest_button": [
+              0.14260490238666532,
+              -0.42421168088912964,
+              0.7731435298919678
+            ],
+            "closest_ee_minus_button": [
+              0.0021416771272323998,
+              0.0008555039123852026,
+              0.03512946946108886
+            ],
+            "button_min_z_position": [
+              0.14259208738803864,
+              -0.4242115914821625,
+              0.768787145614624
+            ],
+            "min_active_finger_to_button": 0.14393085987386905,
+            "closest_active_finger": [
+              0.018083937466144562,
+              -0.48776137828826904,
+              0.8107209205627441
+            ],
+            "closest_active_finger_button": [
+              0.14261263608932495,
+              -0.4242118299007416,
+              0.7765134572982788
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12452869862318039,
+              -0.06354954838752747,
+              0.03420746326446533
+            ],
+            "min_contact_pad_to_button": 0.021053307100651873,
+            "closest_contact_pad": [
+              0.1425919532775879,
+              -0.42428940810779014,
+              0.7899238643021564
+            ],
+            "closest_contact_pad_button": [
+              0.1425919532775879,
+              -0.4242088496685028,
+              0.7688707113265991
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -8.055843928733708e-05,
+              0.02105315297555732
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e2ceed1aa58b075ebfcf75a7faebf05f8a6d9518c0df5e63535940a9920df87",
+    "visual_seed": 3199746244459196826,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1edbed7c8cfd721203cd3effd2ea668a62caafe5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_26_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22884498710252651,
+              -0.04460637430514843,
+              1.1613618588894954
+            ],
+            "current_z": 1.1613618588894954,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3047753514809298,
+            "gripper_z": 1.1545761229374332,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22441523191020507,
+              -0.04920277989233529,
+              1.1545761229374332
+            ],
+            "object_minus_gripper": [
+              0.004429755192321444,
+              0.0045964055871868595,
+              0.006785735952062222
+            ],
+            "object_to_gripper_xy": 0.006383547241606454,
+            "object_to_gripper_z": 0.006785735952062222,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22884498710252651,
+              -0.06793627992889124,
+              1.1613618588894954
+            ],
+            "finger_b": [
+              0.21822030240742032,
+              -0.04460637430514843,
+              1.1613618588894954
+            ],
+            "finger_midpoint": [
+              0.22353264475497342,
+              -0.056271327117019834,
+              1.1613618588894954
+            ],
+            "object_minus_finger_midpoint": [
+              0.005312342347553095,
+              0.011664952811871403,
+              0.0
+            ],
+            "finger_gap": 0.025635296395461672,
+            "fingertip_max_gap": 0.09265845354166721,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012817648197730833,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1613618588894954,
+            "object_top_z": 1.2073076032250047,
+            "finger_top_clearance": 0.04594574433550935,
+            "fingertip_min_top_clearance": 0.013783723300652806,
+            "object_projection_between_fingers": 0.8282267966406398,
+            "object_to_finger_line_xy": 0.00966920324988846,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882922677083361,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5059849707806396,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29153938625809406,
+              -0.3635706962180028,
+              0.8470195134363037
+            ],
+            "target_position": [
+              0.28500053102404765,
+              -0.36402495201315455,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006554614870398183,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18605900752787627,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195134363037,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757301706216927,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577032112894588,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537029579902634,
+            "release_required_pad_clearance": 0.05288516056447294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8108363687834632,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007880985736846924,
+            "max_z_decrease": 0.007880985736846924,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035176149944296436,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007880985736846924,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104088130056525,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007880985736846924,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007881013029092164,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14070045948028564,
+              -0.4202864170074463,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14070045948028564,
+              -0.4202864170074463,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1403202621231628,
+              -0.4184329742157212,
+              0.808206042104522
+            ],
+            "closest_button": [
+              0.14069050550460815,
+              -0.42028641700744634,
+              0.7730807065963745
+            ],
+            "closest_ee_minus_button": [
+              -0.0003702433814453676,
+              0.0018534427917251683,
+              0.03512533550814745
+            ],
+            "button_min_z_position": [
+              0.14067983627319336,
+              -0.42028421163558966,
+              0.7689278721809387
+            ],
+            "min_active_finger_to_button": 0.14568968462984508,
+            "closest_active_finger": [
+              0.012978918850421906,
+              -0.481471985578537,
+              0.8105915784835815
+            ],
+            "closest_active_finger_button": [
+              0.14069987833499908,
+              -0.42028605937957764,
+              0.7763991355895996
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12772095948457718,
+              -0.06118592619895935,
+              0.034192442893981934
+            ],
+            "min_contact_pad_to_button": 0.02104088130056525,
+            "closest_contact_pad": [
+              0.14067983627319336,
+              -0.42028421163558966,
+              0.789968753481504
+            ],
+            "closest_contact_pad_button": [
+              0.14067983627319336,
+              -0.42028421163558966,
+              0.7689278721809387
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02104088130056525
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5089db57cda271a977c064780cc9270c3496ec7ec14ba73adc6611aa3f1f99f4",
+    "visual_seed": 8395718993244972902,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d9b0ee52531c10a52fa11dac2f6daa864dbbc2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_27_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2305569340231452,
+              -0.04614429714212334,
+              1.1593094739477368
+            ],
+            "current_z": 1.1593094739477368,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30272302614381597,
+            "gripper_z": 1.1525206756429187,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22612682010550325,
+              -0.05082646077937923,
+              1.1525206756429187
+            ],
+            "object_minus_gripper": [
+              0.004430113917641948,
+              0.00468216363725589,
+              0.0067887983048180445
+            ],
+            "object_to_gripper_xy": 0.006445817686634194,
+            "object_to_gripper_z": 0.0067887983048180445,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2305569340231452,
+              -0.06940247282277638,
+              1.1593094739477368
+            ],
+            "finger_b": [
+              0.21971144544975016,
+              -0.04614429714212334,
+              1.1593094739477368
+            ],
+            "finger_midpoint": [
+              0.22513418973644767,
+              -0.05777338498244986,
+              1.1593094739477368
+            ],
+            "object_minus_finger_midpoint": [
+              0.005422744286697534,
+              0.01162908784032652,
+              0.0
+            ],
+            "finger_gap": 0.025662567260267687,
+            "fingertip_max_gap": 0.09252385553966447,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012831283630133848,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1593094739477368,
+            "object_top_z": 1.2052709111832056,
+            "finger_top_clearance": 0.04596143723546886,
+            "fingertip_min_top_clearance": 0.013788431170640658,
+            "object_projection_between_fingers": 0.8213931788487074,
+            "object_to_finger_line_xy": 0.00982934700274824,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048761927769832236,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.374205410720191,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2912488272746052,
+              -0.3644737213555186,
+              0.8470196483751036
+            ],
+            "target_position": [
+              0.2852554269229532,
+              -0.36440336068740253,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005993813343673652,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18427944917217723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196483751036,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533266890311677,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509598687943541,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15272312670644722,
+            "release_required_pad_clearance": 0.05254799343971771,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16312827359569454,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008061230182647705,
+            "max_z_decrease": 0.008061230182647705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515319468259969,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008061230182647705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021151074192465716,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008061230182647705,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008061240679450937,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1409553587436676,
+              -0.42066481709480286,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1409553587436676,
+              -0.42066481709480286,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.139997802093946,
+              -0.4221605901546224,
+              0.8038556826847781
+            ],
+            "closest_button": [
+              0.14094778895378113,
+              -0.4206542372703552,
+              0.7687476277351379
+            ],
+            "closest_ee_minus_button": [
+              -0.0009499868598351335,
+              -0.001506352884267148,
+              0.0351080549496402
+            ],
+            "button_min_z_position": [
+              0.14094778895378113,
+              -0.4206542372703552,
+              0.7687476277351379
+            ],
+            "min_active_finger_to_button": 0.14648295379605736,
+            "closest_active_finger": [
+              -0.000731348991394043,
+              -0.4063071608543396,
+              0.8111034035682678
+            ],
+            "closest_active_finger_button": [
+              0.14095443487167358,
+              -0.4206658601760864,
+              0.7768073081970215
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14168578386306763,
+              0.014358699321746826,
+              0.03429609537124634
+            ],
+            "min_contact_pad_to_button": 0.021151074192465716,
+            "closest_contact_pad": [
+              0.14094778895378113,
+              -0.4233174173342001,
+              0.7897303685342502
+            ],
+            "closest_contact_pad_button": [
+              0.14094778895378113,
+              -0.4206542372703552,
+              0.7687476277351379
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002663180063844861,
+              0.02098274079911222
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "393d4a2a7a5482b189049d3607aebfe5888b3633616cef754e63e7679b8bf5dc",
+    "visual_seed": 1346663650609900421,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f1c2b4c0f7b142ed9333f2e37a7cc21640060fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_28_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22201971369776086,
+              -0.04928102969850495,
+              1.161812137000162
+            ],
+            "current_z": 1.161812137000162,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30522568919624116,
+            "gripper_z": 1.1553793596304558,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2172956302819941,
+              -0.054020507671510024,
+              1.1553793596304558
+            ],
+            "object_minus_gripper": [
+              0.004724083415766744,
+              0.004739477973005071,
+              0.006432777369706155
+            ],
+            "object_to_gripper_xy": 0.006691757286073865,
+            "object_to_gripper_z": 0.006432777369706155,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22201971369776086,
+              -0.07278425707586093,
+              1.161812137000162
+            ],
+            "finger_b": [
+              0.21111834335589463,
+              -0.04928102969850495,
+              1.161812137000162
+            ],
+            "finger_midpoint": [
+              0.21656902852682774,
+              -0.06103264338718294,
+              1.161812137000162
+            ],
+            "object_minus_finger_midpoint": [
+              0.005450685170933112,
+              0.01175161368867799,
+              0.0
+            ],
+            "finger_gap": 0.025908330175490202,
+            "fingertip_max_gap": 0.09258811299859893,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012954165087745101,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161812137000162,
+            "object_top_z": 1.2076810092904458,
+            "finger_top_clearance": 0.0458688722902838,
+            "fingertip_min_top_clearance": 0.013760661687085174,
+            "object_projection_between_fingers": 0.8229551323958425,
+            "object_to_finger_line_xy": 0.009889382454760962,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048794056499299465,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5262291821427247,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 319,
+            "max_stable_success_frames": 319,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2930524604665977,
+              -0.36390887921458787,
+              0.8470196345240546
+            ],
+            "target_position": [
+              0.28437997018597766,
+              -0.3650694612506363,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008749802188041035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1869542456661682,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196345240546,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536870547876197,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548719749380572,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15538731451466423,
+            "release_required_pad_clearance": 0.05274359874690286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.538138311151325,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007918775081634521,
+            "max_z_decrease": 0.007918775081634521,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035159831506637755,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007918775081634521,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104198554976923,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007918775081634521,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007918799007128458,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14007990062236786,
+              -0.42133092880249023,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14007990062236786,
+              -0.42133092880249023,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1395136743432123,
+              -0.4201167546416288,
+              0.8081597799857644
+            ],
+            "closest_button": [
+              0.14006960391998285,
+              -0.4213331341743469,
+              0.773025393486023
+            ],
+            "closest_ee_minus_button": [
+              -0.0005559295767705585,
+              0.001216379532718137,
+              0.03513438649974143
+            ],
+            "button_min_z_position": [
+              0.14006058871746058,
+              -0.42132848501205444,
+              0.7688900828361511
+            ],
+            "min_active_finger_to_button": 0.14612501821240073,
+            "closest_active_finger": [
+              0.011204957962036133,
+              -0.4811483919620514,
+              0.8104774355888367
+            ],
+            "closest_active_finger_button": [
+              0.14007960259914398,
+              -0.42133116722106934,
+              0.7763344049453735
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12887464463710785,
+              -0.059817224740982056,
+              0.034143030643463135
+            ],
+            "min_contact_pad_to_button": 0.02104198554976923,
+            "closest_contact_pad": [
+              0.14006058871746058,
+              -0.4214308498405612,
+              0.7899318193927802
+            ],
+            "closest_contact_pad_button": [
+              0.14006058871746058,
+              -0.42132848501205444,
+              0.7688900828361511
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00010236482850672912,
+              0.02104173655662911
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5baf7dfb56f893ae335ba9ae1d4b69d02fb06bbb2cebf273961b585a8d5c8d37",
+    "visual_seed": 965682831355114661,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59ec83a0aaca44afe0649d972026ac81ac09449
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_29_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22786765772451012,
+              -0.05549036538364353,
+              1.1621743457084588
+            ],
+            "current_z": 1.1621743457084588,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.3055879575091828,
+            "gripper_z": 1.1555756556679,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22337704981861206,
+              -0.06003453591417042,
+              1.1555756556679
+            ],
+            "object_minus_gripper": [
+              0.004490607905898059,
+              0.0045441705305268865,
+              0.006598690040558797
+            ],
+            "object_to_gripper_xy": 0.006388665367275325,
+            "object_to_gripper_z": 0.006598690040558797,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22786765772451012,
+              -0.07894922416938545,
+              1.1621743457084588
+            ],
+            "finger_b": [
+              0.21742198493342085,
+              -0.05549036538364353,
+              1.1621743457084588
+            ],
+            "finger_midpoint": [
+              0.2226448213289655,
+              -0.06721979477651449,
+              1.1621743457084588
+            ],
+            "object_minus_finger_midpoint": [
+              0.005222836395544633,
+              0.011729429392870958,
+              0.0
+            ],
+            "finger_gap": 0.02567937179114558,
+            "fingertip_max_gap": 0.09300796654041787,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01283968589557279,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1621743457084588,
+            "object_top_z": 1.2081284157974692,
+            "finger_top_clearance": 0.045954070089010424,
+            "fingertip_min_top_clearance": 0.013786221026703094,
+            "object_projection_between_fingers": 0.8345357996700757,
+            "object_to_finger_line_xy": 0.009542428254133638,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900398327020894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7329456015959652,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2916387217418822,
+              -0.3617464699959466,
+              0.8470194235607564
+            ],
+            "target_position": [
+              0.28407276322699326,
+              -0.3626316651677446,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007617565145188784,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18715483641454828,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194235607564,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754666651041367,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868443939895737,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15541095691712098,
+            "release_required_pad_clearance": 0.053422196994786855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8587184299547022,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008057594299316406,
+            "max_z_decrease": 0.008057594299316406,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515461455947595,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008057594299316406,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02100187023797224,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008057594299316406,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008057599991595119,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1397726833820343,
+              -0.4188931286334991,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1397726833820343,
+              -0.4188931286334991,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13811916848825637,
+              -0.4179666387622283,
+              0.8078283416507569
+            ],
+            "closest_button": [
+              0.139760360121727,
+              -0.4188949763774872,
+              0.7727243304252625
+            ],
+            "closest_ee_minus_button": [
+              -0.0016411916334706234,
+              0.0009283376152589007,
+              0.03510401122549445
+            ],
+            "button_min_z_position": [
+              0.13976888358592987,
+              -0.4188843369483947,
+              0.7687512636184692
+            ],
+            "min_active_finger_to_button": 0.14719362158066668,
+            "closest_active_finger": [
+              0.010495349764823914,
+              -0.4804200530052185,
+              0.8107346892356873
+            ],
+            "closest_active_finger_button": [
+              0.13977135717868805,
+              -0.41889441013336176,
+              0.7765547037124634
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12927600741386414,
+              -0.061525642871856745,
+              0.03417998552322388
+            ],
+            "min_contact_pad_to_button": 0.02100187023797224,
+            "closest_contact_pad": [
+              0.13976888358592987,
+              -0.4191869294733813,
+              0.7897509538841957
+            ],
+            "closest_contact_pad_button": [
+              0.13976888358592987,
+              -0.4188843369483947,
+              0.7687512636184692
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00030259252498660016,
+              0.020999690265726456
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a1429d182174fdf43693576ed5d1188a2fb463c789251aa37006283a9a4073e",
+    "visual_seed": 3552423774090205628,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..75bc9b3aa6e279e3a458b97654fe1341da8fd20b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_2_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2277590125299272,
+              -0.04577532392936378,
+              1.1588566556596867
+            ],
+            "current_z": 1.1588566556596867,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.30227020785576575,
+            "gripper_z": 1.1523670888862376,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22326250682074808,
+              -0.05041418231957928,
+              1.1523670888862376
+            ],
+            "object_minus_gripper": [
+              0.004496505709179116,
+              0.0046388583902155014,
+              0.006489566773449029
+            ],
+            "object_to_gripper_xy": 0.006460462116377832,
+            "object_to_gripper_z": 0.006489566773449029,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2277590125299272,
+              -0.06913677521152592,
+              1.1588566556596867
+            ],
+            "finger_b": [
+              0.21706175670494185,
+              -0.04577532392936378,
+              1.1588566556596867
+            ],
+            "finger_midpoint": [
+              0.2224103846174345,
+              -0.05745604957044485,
+              1.1588566556596867
+            ],
+            "object_minus_finger_midpoint": [
+              0.005348627912492687,
+              0.011680725641081073,
+              0.0
+            ],
+            "finger_gap": 0.025694137233890885,
+            "fingertip_max_gap": 0.09307291391131864,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012847068616945453,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1588566556596867,
+            "object_top_z": 1.2048537514901234,
+            "finger_top_clearance": 0.04599709583043676,
+            "fingertip_min_top_clearance": 0.013799128749131029,
+            "object_projection_between_fingers": 0.8266688232750308,
+            "object_to_finger_line_xy": 0.009726087260038228,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04903645695565932,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8177083339779787,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29771289468696877,
+              -0.36702748441033395,
+              0.8470198927329878
+            ],
+            "target_position": [
+              0.2911600965128004,
+              -0.36747650979949026,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006568164714095661,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867542779291675,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198927329878,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539287753771111,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543819500678533,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15517205989057614,
+            "release_required_pad_clearance": 0.05271909750339267,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.490985087685604,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0079917311668396,
+            "max_z_decrease": 0.0079917311668396,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035201048631907664,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0079917311668396,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021185160849998445,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0079917311668396,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007991751119507761,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14686001837253568,
+              -0.42373797297477717,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14686001837253568,
+              -0.42373797297477717,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14509630980575627,
+              -0.42545148760431994,
+              0.8067196565277482
+            ],
+            "closest_button": [
+              0.14684621989727017,
+              -0.42373126745223993,
+              0.7716042399406433
+            ],
+            "closest_ee_minus_button": [
+              -0.001749910091513901,
+              -0.0017202201520800098,
+              0.03511541658710493
+            ],
+            "button_min_z_position": [
+              0.14684259891510007,
+              -0.423734039068222,
+              0.768817126750946
+            ],
+            "min_active_finger_to_button": 0.14749975475497473,
+            "closest_active_finger": [
+              0.0040749311447143555,
+              -0.4097750186920166,
+              0.8107595443725586
+            ],
+            "closest_active_finger_button": [
+              0.14686033129692072,
+              -0.4237390458583831,
+              0.7765029668807983
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14278540015220637,
+              0.013964027166366522,
+              0.034256577491760254
+            ],
+            "min_contact_pad_to_button": 0.021185160849998445,
+            "closest_contact_pad": [
+              0.14684259891510007,
+              -0.4265746684518813,
+              0.7898109797785586
+            ],
+            "closest_contact_pad_button": [
+              0.14684259891510007,
+              -0.423734039068222,
+              0.768817126750946
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00284062938365931,
+              0.020993853027612586
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3bdca419b0f2ddeeb0564a28671553a5c7a0d36d534c49ce660f858bfc86c3b9",
+    "visual_seed": 3435655839006894716,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed76c0cd0693b276a71b85b976bf1acaeab4c813
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_30_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22622892813255785,
+              -0.04907962910454816,
+              1.1602060371212435
+            ],
+            "current_z": 1.1602060371212435,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.3036195893173226,
+            "gripper_z": 1.1537568427722837,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2214691851417004,
+              -0.05367483686813139,
+              1.1537568427722837
+            ],
+            "object_minus_gripper": [
+              0.004759742990857463,
+              0.004595207763583228,
+              0.006449194348959741
+            ],
+            "object_to_gripper_xy": 0.00661597216813314,
+            "object_to_gripper_z": 0.006449194348959741,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22622892813255785,
+              -0.07282710024340525,
+              1.1602060371212435
+            ],
+            "finger_b": [
+              0.21586798564591372,
+              -0.04907962910454816,
+              1.1602060371212435
+            ],
+            "finger_midpoint": [
+              0.2210484568892358,
+              -0.060953364673976704,
+              1.1602060371212435
+            ],
+            "object_minus_finger_midpoint": [
+              0.005180471243322049,
+              0.011873735569428542,
+              0.0
+            ],
+            "finger_gap": 0.025909293983094127,
+            "fingertip_max_gap": 0.09290883651667534,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012954646991547058,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1602060371212435,
+            "object_top_z": 1.2062708124307144,
+            "finger_top_clearance": 0.04606477530947095,
+            "fingertip_min_top_clearance": 0.013819432592841284,
+            "object_projection_between_fingers": 0.8400856753579877,
+            "object_to_finger_line_xy": 0.00949644489863311,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895441825833767,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7618351385176105,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2941267921325595,
+              -0.36493950845001266,
+              0.847019654994181
+            ],
+            "target_position": [
+              0.28766689299069154,
+              -0.36516036328132273,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00646367339673187,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851615898096239,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019654994181,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529445273061691,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08720902459127809,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15367826677165916,
+            "release_required_pad_clearance": 0.05360451229563905,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2188338270320327,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008159041404724121,
+            "max_z_decrease": 0.008159041404724121,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350866910196709,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008159041404724121,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020924944554092106,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008159041404724121,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815911347815667,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14336681365966797,
+              -0.4214218258857727,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14336681365966797,
+              -0.4214218258857727,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14524250764164118,
+              -0.42107571301600694,
+              0.8036861692892975
+            ],
+            "closest_button": [
+              0.14339157938957212,
+              -0.4213981032371521,
+              0.7686498165130615
+            ],
+            "closest_ee_minus_button": [
+              0.0018509282520690618,
+              0.00032239022114516347,
+              0.03503635277623596
+            ],
+            "button_min_z_position": [
+              0.14339157938957212,
+              -0.4213981032371521,
+              0.7686498165130615
+            ],
+            "min_active_finger_to_button": 0.14392627025793653,
+            "closest_active_finger": [
+              0.004577174782752991,
+              -0.40466004610061646,
+              0.810798168182373
+            ],
+            "closest_active_finger_button": [
+              0.14336672425270078,
+              -0.4214222729206085,
+              0.7765744924545288
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1387895494699478,
+              0.016762226819992065,
+              0.03422367572784424
+            ],
+            "min_contact_pad_to_button": 0.020924944554092106,
+            "closest_contact_pad": [
+              0.14339157938957212,
+              -0.42228505572710584,
+              0.7895559548430447
+            ],
+            "closest_contact_pad_button": [
+              0.14339157938957212,
+              -0.4213981032371521,
+              0.7686498165130615
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008869524899537407,
+              0.020906138329983226
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "425529ea42a0732440c9bac81c8e550d5f6ed12b8fa24f1c5727705b79a90d94",
+    "visual_seed": 2135176735708901983,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef4b2d37a2d8f7d7e7c06124842290596298b61f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_31_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22877429350131048,
+              -0.04562325001640144,
+              1.1614228081934714
+            ],
+            "current_z": 1.1614228081934714,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.30483636038955086,
+            "gripper_z": 1.1548616857407907,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22405775125451208,
+              -0.05028677172351485,
+              1.1548616857407907
+            ],
+            "object_minus_gripper": [
+              0.004716542246798405,
+              0.004663521707113413,
+              0.006561122452680701
+            ],
+            "object_to_gripper_xy": 0.006632812787841381,
+            "object_to_gripper_z": 0.006561122452680701,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22877429350131048,
+              -0.06919574391933131,
+              1.1614228081934714
+            ],
+            "finger_b": [
+              0.2181050257880513,
+              -0.04562325001640144,
+              1.1614228081934714
+            ],
+            "finger_midpoint": [
+              0.22343965964468088,
+              -0.057409496967866375,
+              1.1614228081934714
+            ],
+            "object_minus_finger_midpoint": [
+              0.005334633856629606,
+              0.011786246951464935,
+              0.0
+            ],
+            "finger_gap": 0.025874615791173804,
+            "fingertip_max_gap": 0.09253587106647845,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012937307895586907,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1614228081934714,
+            "object_top_z": 1.2074067142503235,
+            "finger_top_clearance": 0.0459839060568521,
+            "fingertip_min_top_clearance": 0.013795171817055595,
+            "object_projection_between_fingers": 0.8299716244061804,
+            "object_to_finger_line_xy": 0.009719999328659377,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876793553323923,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3630505605918732,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3002201486158998,
+              -0.36179846363915635,
+              0.8470196243716419
+            ],
+            "target_position": [
+              0.29283406895300834,
+              -0.3629077451828994,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007468914133250411,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18628099849629967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196243716419,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759030500832056,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08688138398570132,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15372531370700376,
+            "release_required_pad_clearance": 0.05344069199285066,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8950005100227207,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008223295211791992,
+            "max_z_decrease": 0.008223295211791992,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506371337300698,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008223295211791992,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020903422682353213,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008223295211791992,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008223351483359067,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14853399991989133,
+              -0.41916921734809875,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14853399991989133,
+              -0.41916921734809875,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15041685460476595,
+              -0.4190038725830999,
+              0.8035994080333955
+            ],
+            "closest_button": [
+              0.1485528200864792,
+              -0.41914531588554377,
+              0.7685855627059937
+            ],
+            "closest_ee_minus_button": [
+              0.0018640345182867613,
+              0.0001414433024438666,
+              0.035013845327401816
+            ],
+            "button_min_z_position": [
+              0.1485528200864792,
+              -0.41914531588554377,
+              0.7685855627059937
+            ],
+            "min_active_finger_to_button": 0.14388719176726475,
+            "closest_active_finger": [
+              0.009676150977611542,
+              -0.40326857566833496,
+              0.8107160925865173
+            ],
+            "closest_active_finger_button": [
+              0.14853325486183167,
+              -0.4191696643829345,
+              0.7765198349952698
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13885710388422012,
+              0.015901088714599554,
+              0.03419625759124756
+            ],
+            "min_contact_pad_to_button": 0.020903422682353213,
+            "closest_contact_pad": [
+              0.1485528200864792,
+              -0.4201502432629112,
+              0.7894648155854272
+            ],
+            "closest_contact_pad_button": [
+              0.1485528200864792,
+              -0.41914531588554377,
+              0.7685855627059937
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010049273773674594,
+              0.020879252879433596
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "256cc0d094aac1d4860f6b2881143da2410570c479eeb47272aac04bd48cd23f",
+    "visual_seed": 8230592939089352667,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bfe3f79aefa4efdee1c9750e5b2f6efb879cf97
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_32_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2263392209325717,
+              -0.04680582896802365,
+              1.1620058903095827
+            ],
+            "current_z": 1.1620058903095827,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3054193829010171,
+            "gripper_z": 1.15531667550093,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22184490149712144,
+              -0.051433749755506325,
+              1.15531667550093
+            ],
+            "object_minus_gripper": [
+              0.004494319435450256,
+              0.004627920787482677,
+              0.006689214808652588
+            ],
+            "object_to_gripper_xy": 0.006451089675634666,
+            "object_to_gripper_z": 0.006689214808652588,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2263392209325717,
+              -0.0701270408809752,
+              1.1620058903095827
+            ],
+            "finger_b": [
+              0.21560091835836226,
+              -0.04680582896802365,
+              1.1620058903095827
+            ],
+            "finger_midpoint": [
+              0.22097006964546698,
+              -0.05846643492449942,
+              1.1620058903095827
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053691512871047176,
+              0.011660605956475771,
+              0.0
+            ],
+            "finger_gap": 0.025674697023802758,
+            "fingertip_max_gap": 0.09271276919226151,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012837348511901376,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1620058903095827,
+            "object_top_z": 1.207927076199772,
+            "finger_top_clearance": 0.04592118589018934,
+            "fingertip_min_top_clearance": 0.013776355767056802,
+            "object_projection_between_fingers": 0.8250714810466337,
+            "object_to_finger_line_xy": 0.009753970209905889,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04885638459613076,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5725275932282647,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2962035398845788,
+              -0.36492336722602325,
+              0.8470196009139312
+            ],
+            "target_position": [
+              0.2893340111002915,
+              -0.36542227638547814,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006887621945747309,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1847013539629225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196009139312,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528027847856616,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515134710352122,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533588446844919,
+            "release_required_pad_clearance": 0.05257567355176061,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21670469771375525,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008152902126312256,
+            "max_z_decrease": 0.008152902126312256,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035021935359756375,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008152902126312256,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020991147713895784,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008152902126312256,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008152981672241339,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1450339406728744,
+              -0.42168372869491577,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1450339406728744,
+              -0.42168372869491577,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14443171391971693,
+              -0.4226906305391458,
+              0.8036571070317763
+            ],
+            "closest_button": [
+              0.14506319165229795,
+              -0.4216627180576324,
+              0.7686559557914734
+            ],
+            "closest_ee_minus_button": [
+              -0.000631477732581015,
+              -0.0010279124815134044,
+              0.0350011512403029
+            ],
+            "button_min_z_position": [
+              0.14506319165229795,
+              -0.4216627180576324,
+              0.7686559557914734
+            ],
+            "min_active_finger_to_button": 0.1461913256671063,
+            "closest_active_finger": [
+              0.003664076328277588,
+              -0.4070737361907959,
+              0.8108314275741577
+            ],
+            "closest_active_finger_button": [
+              0.1450339555740356,
+              -0.4216840863227844,
+              0.7765823602676392
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141369879245758,
+              0.014610350131988525,
+              0.034249067306518555
+            ],
+            "min_contact_pad_to_button": 0.020991147713895784,
+            "closest_contact_pad": [
+              0.14506319165229795,
+              -0.4238269914810307,
+              0.7895352326682085
+            ],
+            "closest_contact_pad_button": [
+              0.14506319165229795,
+              -0.4216627180576324,
+              0.7686559557914734
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021642734233983107,
+              0.020879276876735076
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "508988074e43248813a43981cd19a3e7519823cf5c5da00c8c724559aec890ef",
+    "visual_seed": 344948335244931844,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25bbec8f7283a55e6459463847c30b07b25d1869
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_33_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23203000658281434,
+              -0.0512906040438372,
+              1.1610039438668187
+            ],
+            "current_z": 1.1610039438668187,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.30441749606289814,
+            "gripper_z": 1.1542046911309987,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22755921054244505,
+              -0.05581723231970177,
+              1.1542046911309987
+            ],
+            "object_minus_gripper": [
+              0.00447079604036929,
+              0.004526628275864572,
+              0.006799252735820049
+            ],
+            "object_to_gripper_xy": 0.00636226223779234,
+            "object_to_gripper_z": 0.006799252735820049,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23203000658281434,
+              -0.07469987864267144,
+              1.1610039438668187
+            ],
+            "finger_b": [
+              0.22156472212396355,
+              -0.0512906040438372,
+              1.1610039438668187
+            ],
+            "finger_midpoint": [
+              0.22679736435338893,
+              -0.06299524134325432,
+              1.1610039438668187
+            ],
+            "object_minus_finger_midpoint": [
+              0.005232642229425405,
+              0.01170463729941712,
+              0.0
+            ],
+            "finger_gap": 0.025642080961737285,
+            "fingertip_max_gap": 0.09264592872282909,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012821040480868648,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1610039438668187,
+            "object_top_z": 1.2069611957573874,
+            "finger_top_clearance": 0.04595725189056865,
+            "fingertip_min_top_clearance": 0.013787175567170561,
+            "object_projection_between_fingers": 0.8334304774930937,
+            "object_to_finger_line_xy": 0.00955401076916154,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882296436141455,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5116674652399702,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29223943001186936,
+              -0.3625855168799519,
+              0.8470195794313067
+            ],
+            "target_position": [
+              0.2846142182437946,
+              -0.36338371840954203,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007666875516781624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18588837958722126,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195794313067,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518710801252636,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854775535410288,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15490656460008817,
+            "release_required_pad_clearance": 0.0527387767705144,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5278584463546964,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007859289646148682,
+            "max_z_decrease": 0.007859289646148682,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515721406499441,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007859289646148682,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104447775802154,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007859289646148682,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007859306714484348,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1403141468763351,
+              -0.4196451902389526,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1403141468763351,
+              -0.4196451902389526,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13889470162957165,
+              -0.4183891998850548,
+              0.8074646018205582
+            ],
+            "closest_button": [
+              0.14030386507511133,
+              -0.4196407198905945,
+              0.7723579406738281
+            ],
+            "closest_ee_minus_button": [
+              -0.0014091634455396795,
+              0.0012515200055396858,
+              0.03510666114673011
+            ],
+            "button_min_z_position": [
+              0.14029829204082483,
+              -0.4196410775184631,
+              0.768949568271637
+            ],
+            "min_active_finger_to_button": 0.14680764060196624,
+            "closest_active_finger": [
+              0.01276274025440216,
+              -0.483725368976593,
+              0.810723066329956
+            ],
+            "closest_active_finger_button": [
+              0.14031456410884857,
+              -0.4196461737155914,
+              0.7764174938201904
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275518238544464,
+              -0.06407919526100164,
+              0.034305572509765625
+            ],
+            "min_contact_pad_to_button": 0.02104447775802154,
+            "closest_contact_pad": [
+              0.14029829204082483,
+              -0.4196410775184631,
+              0.7899940460296585
+            ],
+            "closest_contact_pad_button": [
+              0.14029829204082483,
+              -0.4196410775184631,
+              0.768949568271637
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02104447775802154
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0703935e55c1b62bb4e14d2ec2284955244799aec5af302f5b30989b0b35ec26",
+    "visual_seed": 3984202371681262896,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e22c016d4f8757f8a388012b97f122a768d26df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_34_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2272162492529571,
+              -0.055727884194548674,
+              1.1619807126371227
+            ],
+            "current_z": 1.1619807126371227,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3053942052285571,
+            "gripper_z": 1.1551693228128153,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22274586675111313,
+              -0.06040900314122362,
+              1.1551693228128153
+            ],
+            "object_minus_gripper": [
+              0.004470382501843978,
+              0.004681118946674945,
+              0.006811389824307401
+            ],
+            "object_to_gripper_xy": 0.006472804207274616,
+            "object_to_gripper_z": 0.006811389824307401,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2272162492529571,
+              -0.07904851938095006,
+              1.1619807126371227
+            ],
+            "finger_b": [
+              0.21635504002109784,
+              -0.055727884194548674,
+              1.1619807126371227
+            ],
+            "finger_midpoint": [
+              0.2217856446370275,
+              -0.06738820178774937,
+              1.1619807126371227
+            ],
+            "object_minus_finger_midpoint": [
+              0.005430604615929618,
+              0.0116603175932007,
+              0.0
+            ],
+            "finger_gap": 0.025725821492722976,
+            "fingertip_max_gap": 0.09233425075271778,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012862910746361488,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1619807126371227,
+            "object_top_z": 1.207777124290105,
+            "finger_top_clearance": 0.045796411652982316,
+            "fingertip_min_top_clearance": 0.013738923495894728,
+            "object_projection_between_fingers": 0.8217547946380938,
+            "object_to_finger_line_xy": 0.009845761320042308,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048667125376358894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3653632639768467,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 316,
+            "max_stable_success_frames": 316,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2944933495199945,
+              -0.36793397493122193,
+              0.8470210170906377
+            ],
+            "target_position": [
+              0.2882502449863198,
+              -0.3682449220123783,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006250843327557445,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18440564719716374,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470210170906377,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565977567678933,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852979599196566,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15218739858628352,
+            "release_required_pad_clearance": 0.0526489799598283,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.35164077191127685,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007986664772033691,
+            "max_z_decrease": 0.007986664772033691,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514775029339422,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007986664772033691,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104093413588456,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007986664772033691,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00798668808896846,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1439501643180847,
+              -0.42450636625289917,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1439501643180847,
+              -0.42450636625289917,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14433124144802884,
+              -0.4238316753141765,
+              0.8082715982481148
+            ],
+            "closest_button": [
+              0.14393869042396543,
+              -0.4245087504386902,
+              0.7731325626373291
+            ],
+            "closest_ee_minus_button": [
+              0.0003925510240634089,
+              0.0006770751245137041,
+              0.035139035610785685
+            ],
+            "button_min_z_position": [
+              0.14393091201782227,
+              -0.4245050251483917,
+              0.768822193145752
+            ],
+            "min_active_finger_to_button": 0.1455044329205665,
+            "closest_active_finger": [
+              0.016303367912769318,
+              -0.4854443073272705,
+              0.81061851978302
+            ],
+            "closest_active_finger_button": [
+              0.14394956827163696,
+              -0.4245069622993469,
+              0.7764918804168701
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12764620035886765,
+              -0.060937345027923584,
+              0.0341266393661499
+            ],
+            "min_contact_pad_to_button": 0.02104093413588456,
+            "closest_contact_pad": [
+              0.14393091201782227,
+              -0.425017557172066,
+              0.7898568840214302
+            ],
+            "closest_contact_pad_button": [
+              0.14393091201782227,
+              -0.4245050251483917,
+              0.768822193145752
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005125320236742947,
+              0.02103469087567822
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb5766ae68165b504d6afd05e07955a6bd2eea35091d4e88ab67fab632c2bf6e",
+    "visual_seed": 6827089106314954742,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..062b75d4f4d3843132e2f99f09bbc88eda868963
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_35_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23015343920791487,
+              -0.05441935375521961,
+              1.161344789433465
+            ],
+            "current_z": 1.161344789433465,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.3047582224202545,
+            "gripper_z": 1.1545744285580566,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22571692138639468,
+              -0.05905813123489159,
+              1.1545744285580566
+            ],
+            "object_minus_gripper": [
+              0.004436517821520186,
+              0.004638777479671979,
+              0.006770360875408388
+            ],
+            "object_to_gripper_xy": 0.006418796373665248,
+            "object_to_gripper_z": 0.006770360875408388,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23015343920791487,
+              -0.07772161580519117,
+              1.161344789433465
+            ],
+            "finger_b": [
+              0.21940395266012036,
+              -0.05441935375521961,
+              1.161344789433465
+            ],
+            "finger_midpoint": [
+              0.2247786959340176,
+              -0.06607048478020539,
+              1.161344789433465
+            ],
+            "object_minus_finger_midpoint": [
+              0.005374743273897253,
+              0.011651131024985772,
+              0.0
+            ],
+            "finger_gap": 0.025662168218737087,
+            "fingertip_max_gap": 0.0927103204921148,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012831084109368536,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161344789433465,
+            "object_top_z": 1.2072598600919417,
+            "finger_top_clearance": 0.045915070658476775,
+            "fingertip_min_top_clearance": 0.013774521197543032,
+            "object_projection_between_fingers": 0.8245357089124679,
+            "object_to_finger_line_xy": 0.009760958244224264,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048855160246057405,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5804534445798544,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 321,
+            "max_stable_success_frames": 321,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29092202968742054,
+              -0.35929509582334507,
+              0.8470199471214065
+            ],
+            "target_position": [
+              0.28405501855086357,
+              -0.35964713232520706,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00687602877017255,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18524598916856996,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199471214065,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544676684161754,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506167151849357,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1535232061213963,
+            "release_required_pad_clearance": 0.05253083575924679,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13122119598355028,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007852315902709961,
+            "max_z_decrease": 0.007852315902709961,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518637525996414,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007852315902709961,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021275588263707644,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007852315902709961,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007852342504599838,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13975495100021357,
+              -0.4159086048603058,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13975495100021357,
+              -0.4159086048603058,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14005842035365104,
+              -0.4178129531067139,
+              0.8081753792373989
+            ],
+            "closest_button": [
+              0.13974457979202265,
+              -0.4159121513366699,
+              0.7730417847633362
+            ],
+            "closest_ee_minus_button": [
+              0.00031384056162839236,
+              -0.0019008017700439805,
+              0.035133594474062724
+            ],
+            "button_min_z_position": [
+              0.13973464071750635,
+              -0.41590631008148193,
+              0.7689565420150757
+            ],
+            "min_active_finger_to_button": 0.14562380831619853,
+            "closest_active_finger": [
+              -0.000832773745059967,
+              -0.399433434009552,
+              0.8105542659759521
+            ],
+            "closest_active_finger_button": [
+              0.13975456357002256,
+              -0.4159094095230102,
+              0.7763484716415405
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14058733731508252,
+              0.016475975513458196,
+              0.03420579433441162
+            ],
+            "min_contact_pad_to_button": 0.021275588263707644,
+            "closest_contact_pad": [
+              0.13973464071750635,
+              -0.41913369999201544,
+              0.7899859169542459
+            ],
+            "closest_contact_pad_button": [
+              0.13973464071750635,
+              -0.41590631008148193,
+              0.7689565420150757
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003227389910533507,
+              0.02102937493917023
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "380b009ac77615b074d781085a7c76f3c8a6a85ba1a66640cd61d94a40ed01b8",
+    "visual_seed": 2068156099408554445,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc8b5156d115b389da233d8b5130acd8f2d38f60
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_36_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22935938423142477,
+              -0.0522965251775209,
+              1.1586565942157774
+            ],
+            "current_z": 1.1586565942157774,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3020701464118566,
+            "gripper_z": 1.1522717250204928,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22481567485838932,
+              -0.056755725362141615,
+              1.1522717250204928
+            ],
+            "object_minus_gripper": [
+              0.004543709373035443,
+              0.004459200184620718,
+              0.0063848691952845815
+            ],
+            "object_to_gripper_xy": 0.006366298858295264,
+            "object_to_gripper_z": 0.0063848691952845815,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22935938423142477,
+              -0.07611735731776813,
+              1.1586565942157774
+            ],
+            "finger_b": [
+              0.2194278222344381,
+              -0.0522965251775209,
+              1.1586565942157774
+            ],
+            "finger_midpoint": [
+              0.22439360323293145,
+              -0.0642069412476445,
+              1.1586565942157774
+            ],
+            "object_minus_finger_midpoint": [
+              0.004965780998493319,
+              0.011910416070123608,
+              0.0
+            ],
+            "finger_gap": 0.025808292612139714,
+            "fingertip_max_gap": 0.09322495343177362,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012904146306069843,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1586565942157774,
+            "object_top_z": 1.2045002221249703,
+            "finger_top_clearance": 0.04584362790919294,
+            "fingertip_min_top_clearance": 0.013753088372757915,
+            "object_projection_between_fingers": 0.8519131252291923,
+            "object_to_finger_line_xy": 0.009166746315848752,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911247671588681,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.070253732540404,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2967727508848499,
+              -0.367451443155298,
+              0.8470198929878747
+            ],
+            "target_position": [
+              0.2906838524138228,
+              -0.3675738008519943,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006090127748776472,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.184118750267763,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198929878747,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533390131682649,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08879084887982679,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526265177994295,
+            "release_required_pad_clearance": 0.054395424439913395,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.814629940488793,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008116185665130615,
+            "max_z_decrease": 0.008116185665130615,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516358084119969,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008116185665130615,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020953866690381268,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008116185665130615,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008116213300537108,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14638377726078033,
+              -0.42383524775505066,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14638377726078033,
+              -0.42383524775505066,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1482247203472398,
+              -0.4227603919401688,
+              0.8037927432744727
+            ],
+            "closest_button": [
+              0.14639610052108765,
+              -0.42381802201271057,
+              0.768692672252655
+            ],
+            "closest_ee_minus_button": [
+              0.0018286198261521502,
+              0.001057630072541782,
+              0.03510007102181767
+            ],
+            "button_min_z_position": [
+              0.14639610052108765,
+              -0.42381802201271057,
+              0.768692672252655
+            ],
+            "min_active_finger_to_button": 0.14369851031985692,
+            "closest_active_finger": [
+              0.021169520914554596,
+              -0.48552775382995605,
+              0.8104478716850281
+            ],
+            "closest_active_finger_button": [
+              0.1463828682899475,
+              -0.4238363206386566,
+              0.7763150930404663
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1252133473753929,
+              -0.06169143319129944,
+              0.03413277864456177
+            ],
+            "min_contact_pad_to_button": 0.020953866690381268,
+            "closest_contact_pad": [
+              0.14639610052108765,
+              -0.4239615482447645,
+              0.7896460473864845
+            ],
+            "closest_contact_pad_button": [
+              0.14639610052108765,
+              -0.42381802201271057,
+              0.768692672252655
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00014352623205393655,
+              0.020953375133829444
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05894934b1598d0db55f3ec59192704457c5bbcced40e4f379c99e95d8ce7014",
+    "visual_seed": 6521514228835120938,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..52c37acc64012269dd1c86bac1f81d8cd5b877ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_37_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2264067925100402,
+              -0.04569659174791655,
+              1.1589592891266716
+            ],
+            "current_z": 1.1589592891266716,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.302372781718106,
+            "gripper_z": 1.1523121296514103,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2217790204333261,
+              -0.05021254898369676,
+              1.1523121296514103
+            ],
+            "object_minus_gripper": [
+              0.0046277720767141095,
+              0.004515957235780209,
+              0.006647159475261288
+            ],
+            "object_to_gripper_xy": 0.006466076410730888,
+            "object_to_gripper_z": 0.006647159475261288,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2264067925100402,
+              -0.06949055720380755,
+              1.1589592891266716
+            ],
+            "finger_b": [
+              0.21631310048929406,
+              -0.04569659174791655,
+              1.1589592891266716
+            ],
+            "finger_midpoint": [
+              0.22135994649966712,
+              -0.05759357447586205,
+              1.1589592891266716
+            ],
+            "object_minus_finger_midpoint": [
+              0.005046846010373085,
+              0.011896982727945503,
+              0.0
+            ],
+            "finger_gap": 0.025846380998619682,
+            "fingertip_max_gap": 0.09209486274625073,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012923190499309848,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1589592891266716,
+            "object_top_z": 1.2049293895295783,
+            "finger_top_clearance": 0.04597010040290672,
+            "fingertip_min_top_clearance": 0.013791030120872017,
+            "object_projection_between_fingers": 0.8474891944740165,
+            "object_to_finger_line_xy": 0.009292169734589243,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048547431373125366,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0211656124982493,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2949375597922068,
+              -0.3586272353765402,
+              0.847019513648879
+            ],
+            "target_position": [
+              0.2863549752953901,
+              -0.3598526214038915,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008669620958324898,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18783023616954436,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019513648879,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573916213782093,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08779785620935764,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1555415307233328,
+            "release_required_pad_clearance": 0.05389892810467882,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.806374779283143,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007923722267150879,
+            "max_z_decrease": 0.007923722267150879,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519688633501751,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007923722267150879,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021052654045986108,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007923722267150879,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007923746214360617,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14205490052700043,
+              -0.4161140918731689,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14205490052700043,
+              -0.4161140918731689,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14365629073135155,
+              -0.41459620983517026,
+              0.808156681405773
+            ],
+            "closest_button": [
+              0.1420450359582901,
+              -0.4161148369312286,
+              0.7730295062065125
+            ],
+            "closest_ee_minus_button": [
+              0.0016112547730614546,
+              0.0015186270960583226,
+              0.03512717519926056
+            ],
+            "button_min_z_position": [
+              0.14203549921512604,
+              -0.416112333536148,
+              0.7688851356506348
+            ],
+            "min_active_finger_to_button": 0.14409628650801184,
+            "closest_active_finger": [
+              0.01692323386669159,
+              -0.47885411977767944,
+              0.8105436563491821
+            ],
+            "closest_active_finger_button": [
+              0.1420537829399109,
+              -0.4161143600940704,
+              0.7763411998748779
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1251305490732193,
+              -0.06273975968360906,
+              0.0342024564743042
+            ],
+            "min_contact_pad_to_button": 0.021052654045986108,
+            "closest_contact_pad": [
+              0.14203549921512604,
+              -0.416112333536148,
+              0.7899377896966209
+            ],
+            "closest_contact_pad_button": [
+              0.14203549921512604,
+              -0.416112333536148,
+              0.7688851356506348
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021052654045986108
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c103929800a3f24d284ccaebfee88477faed94163d54226e6cf1f4df4963583",
+    "visual_seed": 5950179995377280108,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5ea4489fb61c6073fb77429654f92ee83ebf781
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_38_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22309290752063168,
+              -0.04482333644028466,
+              1.1589494367533355
+            ],
+            "current_z": 1.1589494367533355,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30236292934476994,
+            "gripper_z": 1.1523039374295787,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21869725643688864,
+              -0.04931038180772934,
+              1.1523039374295787
+            ],
+            "object_minus_gripper": [
+              0.004395651083743041,
+              0.004487045367444681,
+              0.006645499323756798
+            ],
+            "object_to_gripper_xy": 0.006281347353834059,
+            "object_to_gripper_z": 0.006645499323756798,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22309290752063168,
+              -0.06820903265824409,
+              1.1589494367533355
+            ],
+            "finger_b": [
+              0.2127486378429268,
+              -0.04482333644028466,
+              1.1589494367533355
+            ],
+            "finger_midpoint": [
+              0.21792077268177923,
+              -0.056516184549264374,
+              1.1589494367533355
+            ],
+            "object_minus_finger_midpoint": [
+              0.005172134838852455,
+              0.011692848108979713,
+              0.0
+            ],
+            "finger_gap": 0.025571364898334357,
+            "fingertip_max_gap": 0.09270985395111209,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012785682449167184,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1589494367533355,
+            "object_top_z": 1.2049521028478423,
+            "finger_top_clearance": 0.04600266609450676,
+            "fingertip_min_top_clearance": 0.013800799828352028,
+            "object_projection_between_fingers": 0.8363591038238734,
+            "object_to_finger_line_xy": 0.00946011091864763,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048854926975556046,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5234853086419946,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2931002333871249,
+              -0.3591469987945953,
+              0.8470196668024426
+            ],
+            "target_position": [
+              0.2855884722945859,
+              -0.3598872208786007,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007548144370971702,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18815444246597093,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196668024426,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535224363232296,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608972300609995,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15666472181969304,
+            "release_required_pad_clearance": 0.053044861503049975,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1197617618579685,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007979333400726318,
+            "max_z_decrease": 0.007979333400726318,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517569124501354,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007979333400726318,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021215845727926834,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007979333400726318,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007979355341273265,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14128839969635007,
+              -0.41614869236946095,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14128839969635007,
+              -0.41614869236946095,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1421480786208022,
+              -0.41756713266203954,
+              0.8081012435212654
+            ],
+            "closest_button": [
+              0.14127804338932032,
+              -0.41615259647369374,
+              0.7729647755622864
+            ],
+            "closest_ee_minus_button": [
+              0.0008700352314818804,
+              -0.0014145361883458052,
+              0.03513646795897907
+            ],
+            "button_min_z_position": [
+              0.14126978814601895,
+              -0.41614675521850575,
+              0.7688295245170593
+            ],
+            "min_active_finger_to_button": 0.14514743465501367,
+            "closest_active_finger": [
+              0.0012166798114776611,
+              -0.39947742223739624,
+              0.8104655742645264
+            ],
+            "closest_active_finger_button": [
+              0.14128802716732022,
+              -0.41614976525306696,
+              0.7762628197669983
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14007134735584256,
+              0.01667234301567072,
+              0.034202754497528076
+            ],
+            "min_contact_pad_to_button": 0.021215845727926834,
+            "closest_contact_pad": [
+              0.14126978814601895,
+              -0.4188414950454862,
+              0.7898735376138067
+            ],
+            "closest_contact_pad_button": [
+              0.14126978814601895,
+              -0.41614675521850575,
+              0.7688295245170593
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00269473982698043,
+              0.021044013096747416
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6ce44483d643a666bcdd3ef3fa1efbc2bd9bb75d4a52fe82bc7dd03d9d4083c",
+    "visual_seed": 2341003194094551360,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63f1a95e5f8888b7ce0915b97fbd2875ec730913
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_39_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23162011614363673,
+              -0.05027571651110503,
+              1.1608328937567478
+            ],
+            "current_z": 1.1608328937567478,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.30424638634818213,
+            "gripper_z": 1.1543404796677712,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2268577282233365,
+              -0.05488099666329499,
+              1.1543404796677712
+            ],
+            "object_minus_gripper": [
+              0.004762387920300232,
+              0.004605280152189958,
+              0.006492414088976606
+            ],
+            "object_to_gripper_xy": 0.00662487312962115,
+            "object_to_gripper_z": 0.006492414088976606,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23162011614363673,
+              -0.07425768979085333,
+              1.1608328937567478
+            ],
+            "finger_b": [
+              0.22144316338884762,
+              -0.05027571651110503,
+              1.1608328937567478
+            ],
+            "finger_midpoint": [
+              0.2265316397662422,
+              -0.06226670315097918,
+              1.1608328937567478
+            ],
+            "object_minus_finger_midpoint": [
+              0.005088476377394541,
+              0.011990986639874149,
+              0.0
+            ],
+            "finger_gap": 0.026051975160508865,
+            "fingertip_max_gap": 0.09247220724477143,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013025987580254427,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1608328937567478,
+            "object_top_z": 1.2066159411314377,
+            "finger_top_clearance": 0.045783047374689856,
+            "fingertip_min_top_clearance": 0.013734914212406956,
+            "object_projection_between_fingers": 0.8474001151556193,
+            "object_to_finger_line_xy": 0.00936832649082895,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048736103622385715,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4834016771035967,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29943244492416987,
+              -0.3642907686077116,
+              0.8470195143688616
+            ],
+            "target_position": [
+              0.29127802872062614,
+              -0.36574753927378756,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00828351884129903,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1894276518943917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195143688616,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590377233965495,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08897216496701464,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15663613238176397,
+            "release_required_pad_clearance": 0.05448608248350732,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.002499085857941,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008020639419555664,
+            "max_z_decrease": 0.008020639419555664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035147600104873264,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008020639419555664,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021116848895218282,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008020639419555664,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00802067622090106,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.146977961063385,
+              -0.422008991241455,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.146977961063385,
+              -0.422008991241455,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14701938812682033,
+              -0.42262993249512737,
+              0.8082526415935505
+            ],
+            "closest_button": [
+              0.14696827530860898,
+              -0.42201212048530573,
+              0.7731105089187622
+            ],
+            "closest_ee_minus_button": [
+              5.111281821135183e-05,
+              -0.0006178120098216389,
+              0.03514213267478827
+            ],
+            "button_min_z_position": [
+              0.14695367217063904,
+              -0.4220083653926849,
+              0.76878821849823
+            ],
+            "min_active_finger_to_button": 0.1460279760448569,
+            "closest_active_finger": [
+              0.006039798259735107,
+              -0.404923677444458,
+              0.8106585144996643
+            ],
+            "closest_active_finger_button": [
+              0.14697782695293427,
+              -0.4220097661018371,
+              0.7764721512794495
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14093802869319916,
+              0.017086088657379095,
+              0.034186363220214844
+            ],
+            "min_contact_pad_to_button": 0.021116848895218282,
+            "closest_contact_pad": [
+              0.14695367217063904,
+              -0.42387106289109533,
+              0.7898227535606671
+            ],
+            "closest_contact_pad_button": [
+              0.14695367217063904,
+              -0.4220083653926849,
+              0.76878821849823
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018626974984104483,
+              0.021034535062437132
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c5afe445d5b9e78fafd76e39019b2458e44edd8e5639eb62401b3a1c44be73d0",
+    "visual_seed": 5153380986637779412,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a090f0c88b32b7f785a0f1e5ed5cac2012c32d95
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_3_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22943227030067945,
+              -0.04738964988433391,
+              1.160703552254423
+            ],
+            "current_z": 1.160703552254423,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30411698524121256,
+            "gripper_z": 1.154070597857863,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22493732843385744,
+              -0.051959938972196765,
+              1.154070597857863
+            ],
+            "object_minus_gripper": [
+              0.004494941866822005,
+              0.004570289087862854,
+              0.006632954396559976
+            ],
+            "object_to_gripper_xy": 0.006410307694077373,
+            "object_to_gripper_z": 0.006632954396559976,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22943227030067945,
+              -0.07073462815190878,
+              1.160703552254423
+            ],
+            "finger_b": [
+              0.21881339653504722,
+              -0.04738964988433391,
+              1.160703552254423
+            ],
+            "finger_midpoint": [
+              0.22412283341786332,
+              -0.05906213901812135,
+              1.160703552254423
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053094368828161265,
+              0.01167248913378744,
+              0.0
+            ],
+            "finger_gap": 0.025646607774986063,
+            "fingertip_max_gap": 0.09293502631752204,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01282330388749304,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160703552254423,
+            "object_top_z": 1.2067001285358054,
+            "finger_top_clearance": 0.04599657628138254,
+            "fingertip_min_top_clearance": 0.013798972884414762,
+            "object_projection_between_fingers": 0.8285659614543021,
+            "object_to_finger_line_xy": 0.00966589341794307,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896751315876102,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7446541780160358,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29164045170337305,
+              -0.3656286132583565,
+              0.8470193501440056
+            ],
+            "target_position": [
+              0.28491099259474245,
+              -0.3660385762469481,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006741935148512352,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841495621110282,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193501440056,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754868318071647,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564004503131449,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15229962384006854,
+            "release_required_pad_clearance": 0.05282002251565725,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6852814028910462,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008077263832092285,
+            "max_z_decrease": 0.008077263832092285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514014135178262,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008077263832092285,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02113032951690409,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008077263832092285,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00807727297810446,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14061091840267176,
+              -0.4223000407218933,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14061091840267176,
+              -0.4223000407218933,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1392048595095886,
+              -0.4237494147459625,
+              0.8038131322276166
+            ],
+            "closest_button": [
+              0.14061170816421506,
+              -0.4222879111766815,
+              0.7687315940856934
+            ],
+            "closest_ee_minus_button": [
+              -0.0014068486546264525,
+              -0.0014615035692809863,
+              0.035081538141923274
+            ],
+            "button_min_z_position": [
+              0.14061170816421506,
+              -0.4222879111766815,
+              0.7687315940856934
+            ],
+            "min_active_finger_to_button": 0.1469045712378693,
+            "closest_active_finger": [
+              -0.0014202818274497986,
+              -0.40693822503089905,
+              0.8110308647155762
+            ],
+            "closest_active_finger_button": [
+              0.14061047136783597,
+              -0.4223010241985321,
+              0.7767934203147888
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14203075319528577,
+              0.015362799167633057,
+              0.034237444400787354
+            ],
+            "min_contact_pad_to_button": 0.02113032951690409,
+            "closest_contact_pad": [
+              0.14061170816421506,
+              -0.42499061867476234,
+              0.7896883638194278
+            ],
+            "closest_contact_pad_button": [
+              0.14061170816421506,
+              -0.4222879111766815,
+              0.7687315940856934
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027027074980808252,
+              0.020956769733734393
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea251324fcb9419ae09272b78ff7ed55f52caa78b3b8a71cbaeb148369e36885",
+    "visual_seed": 8785848764023920768,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2c8143512f931359c3c062bf38e070db27ac378
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_40_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23069633588233054,
+              -0.04408615532050727,
+              1.1588431246677304
+            ],
+            "current_z": 1.1588431246677304,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.30225661725916475,
+            "gripper_z": 1.1524471926205235,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2259313811060959,
+              -0.048676885774893014,
+              1.1524471926205235
+            ],
+            "object_minus_gripper": [
+              0.004764954776234648,
+              0.0045907304543857455,
+              0.006395932047206898
+            ],
+            "object_to_gripper_xy": 0.006616615458403649,
+            "object_to_gripper_z": 0.006395932047206898,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23069633588233054,
+              -0.06806312846569307,
+              1.1588431246677304
+            ],
+            "finger_b": [
+              0.22049759511435607,
+              -0.04408615532050727,
+              1.1588431246677304
+            ],
+            "finger_midpoint": [
+              0.2255969654983433,
+              -0.05607464189310017,
+              1.1588431246677304
+            ],
+            "object_minus_finger_midpoint": [
+              0.005099370383987251,
+              0.011988486572592903,
+              0.0
+            ],
+            "finger_gap": 0.026055892893111637,
+            "fingertip_max_gap": 0.09276351974856459,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013027946446555827,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1588431246677304,
+            "object_top_z": 1.2045831189578633,
+            "finger_top_clearance": 0.04573999429013287,
+            "fingertip_min_top_clearance": 0.01372199828703986,
+            "object_projection_between_fingers": 0.846792090979645,
+            "object_to_finger_line_xy": 0.00938501453439283,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048881759874282296,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7585788998422212,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.295696167718248,
+              -0.3662871275833291,
+              0.8470195547219267
+            ],
+            "target_position": [
+              0.28931194704297986,
+              -0.3667899401378258,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006403990482151036,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18708542683995424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195547219267,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583148558978947,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08958166454346549,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15435171864043723,
+            "release_required_pad_clearance": 0.054790832271732745,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.63512890582701,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00815129280090332,
+            "max_z_decrease": 0.00815129280090332,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504926254976787,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00815129280090332,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020870618491079476,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00815129280090332,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008151374772145979,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14501187205314636,
+              -0.42305138707160944,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14501187205314636,
+              -0.42305138707160944,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14370871515536052,
+              -0.4220119937168201,
+              0.8036664743312064
+            ],
+            "closest_button": [
+              0.14504395425319672,
+              -0.4230338633060455,
+              0.7686575651168823
+            ],
+            "closest_ee_minus_button": [
+              -0.0013352390978361994,
+              0.0010218695892253993,
+              0.03500890921432409
+            ],
+            "button_min_z_position": [
+              0.14504395425319672,
+              -0.4230338633060455,
+              0.7686575651168823
+            ],
+            "min_active_finger_to_button": 0.14647046766822114,
+            "closest_active_finger": [
+              0.016857057809829712,
+              -0.4852033853530884,
+              0.8108122944831848
+            ],
+            "closest_active_finger_button": [
+              0.14501240849494934,
+              -0.4230515360832214,
+              0.7766516208648682
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12815535068511963,
+              -0.062151849269867,
+              0.03416067361831665
+            ],
+            "min_contact_pad_to_button": 0.020870618491079476,
+            "closest_contact_pad": [
+              0.14504395425319672,
+              -0.42317219095733855,
+              0.7895277251943967
+            ],
+            "closest_contact_pad_button": [
+              0.14504395425319672,
+              -0.4230338633060455,
+              0.7686575651168823
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00013832765129306868,
+              0.02087016007751441
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd882534f87a75996e5274e047a2dd3cf67e919ad7ffbb9eed5fc7d2686dcfc1",
+    "visual_seed": 2149679309366823209,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1afd5bb131f442d11b541db23fea66e56e012b6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_41_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22757381958688042,
+              -0.05153172787623642,
+              1.1609407605554722
+            ],
+            "current_z": 1.1609407605554722,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3043542531469067,
+            "gripper_z": 1.154314578392177,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22297044670770125,
+              -0.056083653333994496,
+              1.154314578392177
+            ],
+            "object_minus_gripper": [
+              0.004603372879179168,
+              0.004551925457758073,
+              0.006626182163295136
+            ],
+            "object_to_gripper_xy": 0.006473875750873533,
+            "object_to_gripper_z": 0.006626182163295136,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22757381958688042,
+              -0.0750986471796369,
+              1.1609407605554722
+            ],
+            "finger_b": [
+              0.21717081466734967,
+              -0.05153172787623642,
+              1.1609407605554722
+            ],
+            "finger_midpoint": [
+              0.22237231712711503,
+              -0.06331518752793666,
+              1.1609407605554722
+            ],
+            "object_minus_finger_midpoint": [
+              0.005201502459765389,
+              0.011783459651700239,
+              0.0
+            ],
+            "finger_gap": 0.025760865606744867,
+            "fingertip_max_gap": 0.09246887423311925,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012880432803372444,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1609407605554722,
+            "object_top_z": 1.2069623816526958,
+            "finger_top_clearance": 0.04602162109722352,
+            "fingertip_min_top_clearance": 0.013806486329167056,
+            "object_projection_between_fingers": 0.8369215016070862,
+            "object_to_finger_line_xy": 0.009517024047020685,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04873443711655963,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3950844871516723,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2935003729969414,
+              -0.3639519642992941,
+              0.84701950407131
+            ],
+            "target_position": [
+              0.28616579043261,
+              -0.3646079389011981,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007363857961105576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18576084328734857,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701950407131,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528295465536125,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855417365710787,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15447849289557408,
+            "release_required_pad_clearance": 0.052770868285539355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5908273490865047,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008069634437561035,
+            "max_z_decrease": 0.008069634437561035,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515782877112537,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008069634437561035,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021172734637488526,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008069634437561035,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008069646553866985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14186571538448334,
+              -0.42086941003799433,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14186571538448334,
+              -0.42086941003799433,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14042558198616667,
+              -0.42270241152577953,
+              0.8038190668730422
+            ],
+            "closest_button": [
+              0.14186327159404752,
+              -0.4208556413650512,
+              0.7687392234802246
+            ],
+            "closest_ee_minus_button": [
+              -0.0014376896078808488,
+              -0.0018467701607283171,
+              0.035079843392817556
+            ],
+            "button_min_z_position": [
+              0.14186327159404752,
+              -0.4208556413650512,
+              0.7687392234802246
+            ],
+            "min_active_finger_to_button": 0.14695254696884363,
+            "closest_active_finger": [
+              -0.00041140615940093994,
+              -0.4075738191604614,
+              0.810512900352478
+            ],
+            "closest_active_finger_button": [
+              0.14186561107635495,
+              -0.4208696186542511,
+              0.7762269973754883
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422770172357559,
+              0.013295799493789673,
+              0.034285902976989746
+            ],
+            "min_contact_pad_to_button": 0.021172734637488526,
+            "closest_contact_pad": [
+              0.14186327159404752,
+              -0.4237946340361257,
+              0.7897069847844
+            ],
+            "closest_contact_pad_button": [
+              0.14186327159404752,
+              -0.4208556413650512,
+              0.7687392234802246
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002938992671074503,
+              0.020967761304175436
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19b5031faf3a9e855540f11c56fc18d64b3514a862d174f8ddcba7eb5c08a932",
+    "visual_seed": 326035078023313649,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..020d320781666d89c6a90355516b58b5760e3299
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_42_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22280416287953533,
+              -0.04698600108370691,
+              1.1619169849058693
+            ],
+            "current_z": 1.1619169849058693,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3053304774973037,
+            "gripper_z": 1.1553052767759007,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.218349828280704,
+              -0.0516830900299597,
+              1.1553052767759007
+            ],
+            "object_minus_gripper": [
+              0.004454334598831322,
+              0.0046970889462527934,
+              0.006611708129968585
+            ],
+            "object_to_gripper_xy": 0.006473309917449957,
+            "object_to_gripper_z": 0.006611708129968585,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22280416287953533,
+              -0.07020872277803655,
+              1.1619169849058693
+            ],
+            "finger_b": [
+              0.211818698943402,
+              -0.04698600108370691,
+              1.1619169849058693
+            ],
+            "finger_midpoint": [
+              0.21731143091146865,
+              -0.05859736193087173,
+              1.1619169849058693
+            ],
+            "object_minus_finger_midpoint": [
+              0.005492731968066683,
+              0.011611360847164819,
+              0.0
+            ],
+            "finger_gap": 0.02568998288797357,
+            "fingertip_max_gap": 0.09251023937367128,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012844991443986788,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1619169849058693,
+            "object_top_z": 1.2077301852095519,
+            "finger_top_clearance": 0.04581320030368263,
+            "fingertip_min_top_clearance": 0.013743960091104757,
+            "object_projection_between_fingers": 0.8171440167879962,
+            "object_to_finger_line_xy": 0.009930422016409646,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875511968683564,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5597568168159888,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 316,
+            "max_stable_success_frames": 316,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.296341440727263,
+              -0.36285537813054825,
+              0.847019426260443
+            ],
+            "target_position": [
+              0.29038961856884626,
+              -0.3629804592012244,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005953136339750817,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18408683228864337,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019426260443,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585775851190218,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632645211547872,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513482490367816,
+            "release_required_pad_clearance": 0.05316322605773936,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3504333161059605,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008144974708557129,
+            "max_z_decrease": 0.008144974708557129,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035091178636321975,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008144974708557129,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020923989240486048,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008144974708557129,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008145031892284904,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1460895389318466,
+              -0.4192419052124023,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1460895389318466,
+              -0.4192419052124023,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14757931893515652,
+              -0.41838642735369536,
+              0.8037144073041571
+            ],
+            "closest_button": [
+              0.14611066877841944,
+              -0.41921988129615784,
+              0.7686638832092285
+            ],
+            "closest_ee_minus_button": [
+              0.0014686501567370835,
+              0.0008334539424624809,
+              0.03505052409492859
+            ],
+            "button_min_z_position": [
+              0.14611066877841944,
+              -0.41921988129615784,
+              0.7686638832092285
+            ],
+            "min_active_finger_to_button": 0.14410913767352512,
+            "closest_active_finger": [
+              0.021273717284202576,
+              -0.4826542139053345,
+              0.8107852339744568
+            ],
+            "closest_active_finger_button": [
+              0.1460895240306854,
+              -0.41924175620079035,
+              0.7766191959381104
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12481580674648282,
+              -0.06341245770454412,
+              0.034166038036346436
+            ],
+            "min_contact_pad_to_button": 0.020923989240486048,
+            "closest_contact_pad": [
+              0.14611066877841944,
+              -0.41944235380929706,
+              0.7895866897063711
+            ],
+            "closest_contact_pad_button": [
+              0.14611066877841944,
+              -0.41921988129615784,
+              0.7686638832092285
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002224725131392269,
+              0.02092280649714262
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa0fd17a84f0501267190a2626892786b3bb59c7605a2a9272fd817f3e7aae1b",
+    "visual_seed": 1461472233474399093,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb286568f83e9f4a77ce77caf65139c82676007c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_43_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2261430382354402,
+              -0.046506319242617826,
+              1.1612557581551723
+            ],
+            "current_z": 1.1612557581551723,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.3046691911419622,
+            "gripper_z": 1.154589335000497,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22159431570627888,
+              -0.050997105356063915,
+              1.154589335000497
+            ],
+            "object_minus_gripper": [
+              0.004548722529161331,
+              0.004490786113446089,
+              0.0066664231546753605
+            ],
+            "object_to_gripper_xy": 0.006392029142926375,
+            "object_to_gripper_z": 0.0066664231546753605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2261430382354402,
+              -0.07015140408287267,
+              1.1612557581551723
+            ],
+            "finger_b": [
+              0.21596638889434777,
+              -0.046506319242617826,
+              1.1612557581551723
+            ],
+            "finger_midpoint": [
+              0.22105471356489398,
+              -0.05832886166274524,
+              1.1612557581551723
+            ],
+            "object_minus_finger_midpoint": [
+              0.005088324670546235,
+              0.011822542420127417,
+              0.0
+            ],
+            "finger_gap": 0.025742071185403993,
+            "fingertip_max_gap": 0.09225654095795063,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012871035592702,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1612557581551723,
+            "object_top_z": 1.2072646026140395,
+            "finger_top_clearance": 0.046008844458867104,
+            "fingertip_min_top_clearance": 0.013802653337660164,
+            "object_projection_between_fingers": 0.8437130749452527,
+            "object_to_finger_line_xy": 0.009347644769007275,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862827047897532,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0613815553695956,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29417593652875185,
+              -0.36393708766159294,
+              0.8470196747516864
+            ],
+            "target_position": [
+              0.28722361784080525,
+              -0.3644639889508098,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0069722564573708795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1873880104967922,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196747516864,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536551729805603,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868523256648077,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15565095619209662,
+            "release_required_pad_clearance": 0.05342616283240385,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.865863424289478,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008084893226623535,
+            "max_z_decrease": 0.008084893226623535,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141129693941564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008084893226623535,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106611943419908,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008084893226623535,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008084908143274472,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14292354881763458,
+              -0.42072543501853943,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14292354881763458,
+              -0.42072543501853943,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14077054624508875,
+              -0.4219501880676466,
+              0.8037768855663304
+            ],
+            "closest_button": [
+              0.1429281234741211,
+              -0.42071059346199036,
+              0.7687239646911621
+            ],
+            "closest_ee_minus_button": [
+              -0.0021575772290323425,
+              -0.001239594605656258,
+              0.035052920875168314
+            ],
+            "button_min_z_position": [
+              0.1429281234741211,
+              -0.42071059346199036,
+              0.7687239646911621
+            ],
+            "min_active_finger_to_button": 0.147725905761356,
+            "closest_active_finger": [
+              -0.00021019577980041504,
+              -0.40820467472076416,
+              0.8111439347267151
+            ],
+            "closest_active_finger_button": [
+              0.14292238652706146,
+              -0.4207262694835663,
+              0.7768042087554932
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14313258230686188,
+              0.012521594762802124,
+              0.034339725971221924
+            ],
+            "min_contact_pad_to_button": 0.02106611943419908,
+            "closest_contact_pad": [
+              0.1429281234741211,
+              -0.42292109927915444,
+              0.7896737869349957
+            ],
+            "closest_contact_pad_button": [
+              0.1429281234741211,
+              -0.42071059346199036,
+              0.7687239646911621
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002210505817164088,
+              0.02094982224383357
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3fa9bf643fba45a5f0d965b0a277c3720daf099f975750a479492ac5b576c9b",
+    "visual_seed": 7168978521552452369,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b3b177b45957e3762e39d86b83ec76559478181
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_44_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2238794350130259,
+              -0.04541014296561941,
+              1.159549863734316
+            ],
+            "current_z": 1.159549863734316,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.30296347553504,
+            "gripper_z": 1.1529320159876046,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21929170269334103,
+              -0.049916600237660314,
+              1.1529320159876046
+            ],
+            "object_minus_gripper": [
+              0.004587732319684873,
+              0.004506457272040902,
+              0.0066178477467113694
+            ],
+            "object_to_gripper_xy": 0.006430819930756223,
+            "object_to_gripper_z": 0.0066178477467113694,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2238794350130259,
+              -0.0690539839092173,
+              1.159549863734316
+            ],
+            "finger_b": [
+              0.21365620361832222,
+              -0.04541014296561941,
+              1.159549863734316
+            ],
+            "finger_midpoint": [
+              0.21876781931567407,
+              -0.05723206343741835,
+              1.159549863734316
+            ],
+            "object_minus_finger_midpoint": [
+              0.005111615697351829,
+              0.01182192047179894,
+              0.0
+            ],
+            "finger_gap": 0.02575938032476346,
+            "fingertip_max_gap": 0.09259908822639998,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012879690162381722,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159549863734316,
+            "object_top_z": 1.2055878083987035,
+            "finger_top_clearance": 0.04603794466438749,
+            "fingertip_min_top_clearance": 0.013811383399316212,
+            "object_projection_between_fingers": 0.842490932979983,
+            "object_to_finger_line_xy": 0.009383628564760133,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879954411319999,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2754966846791513,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.295232234239482,
+              -0.3599662059577461,
+              0.84701955177146
+            ],
+            "target_position": [
+              0.2878992710501146,
+              -0.360734086401069,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007373058355381142,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18681049592154528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701955177146,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531629974611506,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08676309818953597,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15539858463500472,
+            "release_required_pad_clearance": 0.053381549094767985,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7786692388269374,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007929742336273193,
+            "max_z_decrease": 0.007929742336273193,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514697338036103,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007929742336273193,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02102784735859889,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007929742336273193,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007929764765561393,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14359919726848602,
+              -0.4169955551624298,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14359919726848602,
+              -0.4169955551624298,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14193049085238235,
+              -0.416354168477368,
+              0.8081205349969284
+            ],
+            "closest_button": [
+              0.1435917764902115,
+              -0.4169962704181671,
+              0.7730187177658081
+            ],
+            "closest_ee_minus_button": [
+              -0.0016612856378291352,
+              0.0006421019407991113,
+              0.03510181723112027
+            ],
+            "button_min_z_position": [
+              0.14358064532279968,
+              -0.4169921576976776,
+              0.7688791155815125
+            ],
+            "min_active_finger_to_button": 0.14732848876363427,
+            "closest_active_finger": [
+              0.015424512326717377,
+              -0.48107069730758667,
+              0.8105496764183044
+            ],
+            "closest_active_finger_button": [
+              0.14359906315803528,
+              -0.4169963300228119,
+              0.7763233184814453
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281745508313179,
+              -0.06407436728477478,
+              0.03422635793685913
+            ],
+            "min_contact_pad_to_button": 0.02102784735859889,
+            "closest_contact_pad": [
+              0.14358064532279968,
+              -0.417325006395745,
+              0.789904328452747
+            ],
+            "closest_contact_pad_button": [
+              0.14358064532279968,
+              -0.4169921576976776,
+              0.7688791155815125
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003328486980673784,
+              0.0210252128712346
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05de8f6bc10e323898a3479e00e6719d1cb364a7efcf3aa9a022b81d0ab7037f",
+    "visual_seed": 2516053813619048889,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..68983bda18f973642813d7377013b5d59336e39a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_45_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22197129803457769,
+              -0.04999344854734307,
+              1.1601707402483956
+            ],
+            "current_z": 1.1601707402483956,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30358423283983005,
+            "gripper_z": 1.1535624383257888,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21736373687212368,
+              -0.054504427983063056,
+              1.1535624383257888
+            ],
+            "object_minus_gripper": [
+              0.004607561162454005,
+              0.004510979435719986,
+              0.006608301922606863
+            ],
+            "object_to_gripper_xy": 0.006448143557276242,
+            "object_to_gripper_z": 0.006608301922606863,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22197129803457769,
+              -0.07362822406487646,
+              1.1601707402483956
+            ],
+            "finger_b": [
+              0.2117224245127669,
+              -0.04999344854734307,
+              1.1601707402483956
+            ],
+            "finger_midpoint": [
+              0.2168468612736723,
+              -0.061810836306109763,
+              1.1601707402483956
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051244367609053765,
+              0.011817387758766694,
+              0.0
+            ],
+            "finger_gap": 0.02576125040114066,
+            "fingertip_max_gap": 0.09237371785756901,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012880625200570324,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1601707402483956,
+            "object_top_z": 1.2061458170318624,
+            "finger_top_clearance": 0.045975076783466795,
+            "fingertip_min_top_clearance": 0.01379252303504007,
+            "object_projection_between_fingers": 0.8417227888718181,
+            "object_to_finger_line_xy": 0.009402875296179884,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868685892878451,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3033887592791817,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2942866887468676,
+              -0.3602600093149234,
+              0.8470195089288538
+            ],
+            "target_position": [
+              0.28655377810948096,
+              -0.3611880949677116,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007788404836981606,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1897102684244481,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195089288538,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758175575049846,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08807813040837374,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1570610345281993,
+            "release_required_pad_clearance": 0.05403906520418687,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.09019407162837,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008088469505310059,
+            "max_z_decrease": 0.008088469505310059,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518053761261878,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008088469505310059,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021116717032307317,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008088469505310059,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008088482376166543,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14225369691848755,
+              -0.41744956374168396,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14225369691848755,
+              -0.41744956374168396,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1438851477815735,
+              -0.41845693129671235,
+              0.8038484442771308
+            ],
+            "closest_button": [
+              0.14225810766220093,
+              -0.41743582487106323,
+              0.7687203884124756
+            ],
+            "closest_ee_minus_button": [
+              0.0016270401193725637,
+              -0.001021106425649121,
+              0.03512805586465517
+            ],
+            "button_min_z_position": [
+              0.14225810766220093,
+              -0.41743582487106323,
+              0.7687203884124756
+            ],
+            "min_active_finger_to_button": 0.1439816395326463,
+            "closest_active_finger": [
+              0.003409251570701599,
+              -0.400600403547287,
+              0.8109408020973206
+            ],
+            "closest_active_finger_button": [
+              0.14225597679615015,
+              -0.41744881868362427,
+              0.7767584919929504
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13884672522544855,
+              0.01684841513633728,
+              0.03418231010437012
+            ],
+            "min_contact_pad_to_button": 0.021116717032307317,
+            "closest_contact_pad": [
+              0.14225810766220093,
+              -0.4197915953876548,
+              0.7897052897345141
+            ],
+            "closest_contact_pad_button": [
+              0.14225810766220093,
+              -0.41743582487106323,
+              0.7687203884124756
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002355770516591582,
+              0.020984901322038563
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "abca3b1b96e87387608a2963a3092a74f09f6828ed30667f7ae1bb40dd787f2f",
+    "visual_seed": 4494730041823478478,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..01760137972571d78e1487522da965490f8b3c26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_46_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2332110667366888,
+              -0.04666828820000922,
+              1.158666498715088
+            ],
+            "current_z": 1.158666498715088,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.30207993170187764,
+            "gripper_z": 1.152111915757612,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2284607269637232,
+              -0.05136752160693203,
+              1.152111915757612
+            ],
+            "object_minus_gripper": [
+              0.0047503397729656005,
+              0.004699233406922812,
+              0.006554582957476018
+            ],
+            "object_to_gripper_xy": 0.006681954996208688,
+            "object_to_gripper_z": 0.006554582957476018,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2332110667366888,
+              -0.0703226273183996,
+              1.158666498715088
+            ],
+            "finger_b": [
+              0.2225196414806739,
+              -0.04666828820000922,
+              1.158666498715088
+            ],
+            "finger_midpoint": [
+              0.22786535410868136,
+              -0.05849545775920441,
+              1.158666498715088
+            ],
+            "object_minus_finger_midpoint": [
+              0.005345712628007426,
+              0.011827169559195189,
+              0.0
+            ],
+            "finger_gap": 0.025958319150761015,
+            "fingertip_max_gap": 0.09240281468096401,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012979159575380502,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158666498715088,
+            "object_top_z": 1.2045682452065765,
+            "finger_top_clearance": 0.04590174649148837,
+            "fingertip_min_top_clearance": 0.013770523947446512,
+            "object_projection_between_fingers": 0.8303639806040709,
+            "object_to_finger_line_xy": 0.009742487454442339,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048701407340482006,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3251093369121774,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2992381072846291,
+              -0.3626875516239802,
+              0.8470197542592625
+            ],
+            "target_position": [
+              0.29012548957956197,
+              -0.36431659233594604,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009257082428062563,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867166776360033,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197542592625,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540722169953197,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08607109112069038,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1552203780761428,
+            "release_required_pad_clearance": 0.05303554556034519,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1014382231023199,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008123517036437988,
+            "max_z_decrease": 0.008123517036437988,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035073540385227434,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008123517036437988,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0209443150405149,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008123517036437988,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008123556227646534,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14582541584968567,
+              -0.4205780625343323,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14582541584968567,
+              -0.4205780625343323,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1439815214519273,
+              -0.4208428816892608,
+              0.803708209100646
+            ],
+            "closest_button": [
+              0.14584518969058993,
+              -0.42056238651275635,
+              0.7686853408813477
+            ],
+            "closest_ee_minus_button": [
+              -0.0018636682386626302,
+              -0.0002804951765044694,
+              0.03502286821929834
+            ],
+            "button_min_z_position": [
+              0.14584518969058993,
+              -0.42056238651275635,
+              0.7686853408813477
+            ],
+            "min_active_finger_to_button": 0.14744194660292445,
+            "closest_active_finger": [
+              0.003300681710243225,
+              -0.4046843945980072,
+              0.8108943104743958
+            ],
+            "closest_active_finger_button": [
+              0.14582669734954834,
+              -0.42057967185974116,
+              0.7766481041908264
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14252601563930511,
+              0.015895277261733953,
+              0.034246206283569336
+            ],
+            "min_contact_pad_to_button": 0.0209443150405149,
+            "closest_contact_pad": [
+              0.14584518969058993,
+              -0.42202652699016524,
+              0.7895784168918051
+            ],
+            "closest_contact_pad_button": [
+              0.14584518969058993,
+              -0.42056238651275635,
+              0.7686853408813477
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014641404774088929,
+              0.020893076010457423
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ca6c423e2b300a17c756adae5ea36a6b992069e180743c90acdbf81a15f6ca4",
+    "visual_seed": 2624519920986290759,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b9b46000f0317e01c8b03fa4b31c51d74c6437
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_47_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22224896440959366,
+              -0.05490175884930306,
+              1.1606551500649225
+            ],
+            "current_z": 1.1606551500649225,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3040686426563568,
+            "gripper_z": 1.153926463754497,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21767592181418405,
+              -0.05938450511606869,
+              1.153926463754497
+            ],
+            "object_minus_gripper": [
+              0.00457304259540961,
+              0.004482746266765626,
+              0.006728686310425447
+            ],
+            "object_to_gripper_xy": 0.006403728029174242,
+            "object_to_gripper_z": 0.006728686310425447,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22224896440959366,
+              -0.07856949224636114,
+              1.1606551500649225
+            ],
+            "finger_b": [
+              0.21210231512890385,
+              -0.05490175884930306,
+              1.1606551500649225
+            ],
+            "finger_midpoint": [
+              0.21717563976924875,
+              -0.0667356255478321,
+              1.1606551500649225
+            ],
+            "object_minus_finger_midpoint": [
+              0.005073324640344906,
+              0.011833866698529046,
+              0.0
+            ],
+            "finger_gap": 0.025751040673719222,
+            "fingertip_max_gap": 0.09242530015215933,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012875520336859615,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1606551500649225,
+            "object_top_z": 1.2066028277945868,
+            "finger_top_clearance": 0.04594767772966435,
+            "fingertip_min_top_clearance": 0.013784303318899304,
+            "object_projection_between_fingers": 0.8447413774441827,
+            "object_to_finger_line_xy": 0.009325766406555613,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871265007607967,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2972167682272993,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30003747984940543,
+              -0.3582778944861855,
+              0.8470196563882596
+            ],
+            "target_position": [
+              0.2921814378668585,
+              -0.3590570722865199,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007894587619127015,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18746334079252194,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196563882596,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514664182769101,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716739119466198,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15637594376659503,
+            "release_required_pad_clearance": 0.05358369559733099,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1778879200111128,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00810861587524414,
+            "max_z_decrease": 0.00810861587524414,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035092238814026615,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00810861587524414,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020969240144576642,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00810861587524414,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008108641059799521,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14788135886192322,
+              -0.4153185188770294,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14788135886192322,
+              -0.4153185188770294,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14715195678581874,
+              -0.4151332989294769,
+              0.8037841844030369
+            ],
+            "closest_button": [
+              0.14789560437202454,
+              -0.41530418395996094,
+              0.7687002420425415
+            ],
+            "closest_ee_minus_button": [
+              -0.0007436475862057923,
+              0.0001708850304840137,
+              0.03508394236049539
+            ],
+            "button_min_z_position": [
+              0.14789560437202454,
+              -0.41530418395996094,
+              0.7687002420425415
+            ],
+            "min_active_finger_to_button": 0.14630740672796705,
+            "closest_active_finger": [
+              0.02009439468383789,
+              -0.4778571128845215,
+              0.8108039498329163
+            ],
+            "closest_active_finger_button": [
+              0.14788274466991422,
+              -0.4153191149234771,
+              0.7766719460487366
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12778834998607633,
+              -0.06253799796104437,
+              0.03413200378417969
+            ],
+            "min_contact_pad_to_button": 0.020969240144576642,
+            "closest_contact_pad": [
+              0.14789560437202454,
+              -0.41633803438085626,
+              0.7896439806187399
+            ],
+            "closest_contact_pad_button": [
+              0.14789560437202454,
+              -0.41530418395996094,
+              0.7687002420425415
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010338504208953214,
+              0.020943738576198356
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8bb90a414a3c308e6f1fb459239f2c7832cf50d08b8391462440ceb3ae66bf11",
+    "visual_seed": 2470084958381458061,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2808e7fe6e5b88dc6ea047aeffcd520ced206077
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_48_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2208295418097848,
+              -0.0557274066177677,
+              1.1591535731374978
+            ],
+            "current_z": 1.1591535731374978,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.30256718493822177,
+            "gripper_z": 1.1525804036311433,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21623354058158697,
+              -0.060236754716075896,
+              1.1525804036311433
+            ],
+            "object_minus_gripper": [
+              0.004596001228197838,
+              0.004509348098308198,
+              0.006573169506354448
+            ],
+            "object_to_gripper_xy": 0.006438745806545853,
+            "object_to_gripper_z": 0.006573169506354448,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2208295418097848,
+              -0.0793630606168745,
+              1.1591535731374978
+            ],
+            "finger_b": [
+              0.2105588008180455,
+              -0.0557274066177677,
+              1.1591535731374978
+            ],
+            "finger_midpoint": [
+              0.21569417131391516,
+              -0.0675452336173211,
+              1.1591535731374978
+            ],
+            "object_minus_finger_midpoint": [
+              0.005135370495869651,
+              0.011817826999553395,
+              0.0
+            ],
+            "finger_gap": 0.02577076367678861,
+            "fingertip_max_gap": 0.09233541445328391,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012885381838394301,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1591535731374978,
+            "object_top_z": 1.2050808487162024,
+            "finger_top_clearance": 0.045927275578704574,
+            "fingertip_min_top_clearance": 0.013778182673611371,
+            "object_projection_between_fingers": 0.8411639867601426,
+            "object_to_finger_line_xy": 0.009419809340529557,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866770722664196,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3359968189273055,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 317,
+            "max_stable_success_frames": 317,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29662823885294765,
+              -0.3649294834678291,
+              0.8470195879566503
+            ],
+            "target_position": [
+              0.289517296709819,
+              -0.3656280937129888,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00714517700533478,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18625293582374614,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195879566503,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571699612381862,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08682819878927571,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15402718301232873,
+            "release_required_pad_clearance": 0.05341409939463786,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8422220778832312,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008118927478790283,
+            "max_z_decrease": 0.008118927478790283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035120937752369664,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008118927478790283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020924398162627367,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008118927478790283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008118966307299786,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14521722495555878,
+              -0.42188954353332514,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14521722495555878,
+              -0.42188954353332514,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14423372620651245,
+              -0.42018096405452826,
+              0.8037558619634075
+            ],
+            "closest_button": [
+              0.1452348530292511,
+              -0.4218716621398925,
+              0.7686899304389954
+            ],
+            "closest_ee_minus_button": [
+              -0.001001126822738646,
+              0.0016906980853642617,
+              0.035065931524412175
+            ],
+            "button_min_z_position": [
+              0.1452348530292511,
+              -0.4218716621398925,
+              0.7686899304389954
+            ],
+            "min_active_finger_to_button": 0.1458870716364152,
+            "closest_active_finger": [
+              0.01716458797454834,
+              -0.48287859559059143,
+              0.8108505010604858
+            ],
+            "closest_active_finger_button": [
+              0.14521916210651398,
+              -0.4218880534172058,
+              0.7767152190208435
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12805457413196564,
+              -0.06099054217338562,
+              0.034135282039642334
+            ],
+            "min_contact_pad_to_button": 0.020924398162627367,
+            "closest_contact_pad": [
+              0.1452348530292511,
+              -0.4218716621398925,
+              0.7896143286016227
+            ],
+            "closest_contact_pad_button": [
+              0.1452348530292511,
+              -0.4218716621398925,
+              0.7686899304389954
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020924398162627367
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95c5de0cfd1c95f0a84dc4c9e642cfa930fd24cc142b3dd5a229ecec49608164",
+    "visual_seed": 5213574747002410444,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9a5a05c5dfa4dbece8bd029127ffd00e8e11f83
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_49_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22302119720057856,
+              -0.05202782276456619,
+              1.1622935549126183
+            ],
+            "current_z": 1.1622935549126183,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.305707047504053,
+            "gripper_z": 1.155748437957448,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21851505488146492,
+              -0.056675350667781954,
+              1.155748437957448
+            ],
+            "object_minus_gripper": [
+              0.004506142319113643,
+              0.004647527903215765,
+              0.006545116955170238
+            ],
+            "object_to_gripper_xy": 0.006473394334603447,
+            "object_to_gripper_z": 0.006545116955170238,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22302119720057856,
+              -0.07540347737911868,
+              1.1622935549126183
+            ],
+            "finger_b": [
+              0.2122595419742527,
+              -0.05202782276456619,
+              1.1622935549126183
+            ],
+            "finger_midpoint": [
+              0.21764036958741562,
+              -0.06371565007184243,
+              1.1622935549126183
+            ],
+            "object_minus_finger_midpoint": [
+              0.005380827613162942,
+              0.011687827307276244,
+              0.0
+            ],
+            "finger_gap": 0.02573391637254531,
+            "fingertip_max_gap": 0.0927742685980335,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012866958186272662,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622935549126183,
+            "object_top_z": 1.2081435660972932,
+            "finger_top_clearance": 0.04585001118467491,
+            "fingertip_min_top_clearance": 0.01375500335540244,
+            "object_projection_between_fingers": 0.8251174899109766,
+            "object_to_finger_line_xy": 0.009775454773757988,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048887134299016755,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7524712506433884,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 316,
+            "max_stable_success_frames": 316,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29398268446547876,
+              -0.367778439487912,
+              0.8470194505287574
+            ],
+            "target_position": [
+              0.2875300662782517,
+              -0.36808817346744394,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064600477249174,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18521976053366007,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194505287574,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545556880241151,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562608330832937,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15343189472678426,
+            "release_required_pad_clearance": 0.052813041654164686,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6714357745021042,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008164048194885254,
+            "max_z_decrease": 0.008164048194885254,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500293394826757,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008164048194885254,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02092154828045091,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008164048194885254,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008164140088415964,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14322999119758606,
+              -0.4243496358394623,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14322999119758606,
+              -0.4243496358394623,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14335018036258698,
+              -0.42452935087750804,
+              0.8036470272568357
+            ],
+            "closest_button": [
+              0.1432595252990722,
+              -0.4243245720863342,
+              0.7686448097229004
+            ],
+            "closest_ee_minus_button": [
+              9.065506351477182e-05,
+              -0.00020477879117386522,
+              0.03500221753393529
+            ],
+            "button_min_z_position": [
+              0.1432595252990722,
+              -0.4243245720863342,
+              0.7686448097229004
+            ],
+            "min_active_finger_to_button": 0.14554464598637068,
+            "closest_active_finger": [
+              0.002828337252140045,
+              -0.40701255202293396,
+              0.810771644115448
+            ],
+            "closest_active_finger_button": [
+              0.1432296186685562,
+              -0.4243499636650085,
+              0.776564359664917
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14040128141641617,
+              0.01733741164207453,
+              0.034207284450531006
+            ],
+            "min_contact_pad_to_button": 0.02092154828045091,
+            "closest_contact_pad": [
+              0.1432595252990722,
+              -0.4258371011769651,
+              0.7895116120222762
+            ],
+            "closest_contact_pad_button": [
+              0.1432595252990722,
+              -0.4243245720863342,
+              0.7686448097229004
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015125290906309319,
+              0.020866802299375764
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a7f73cdeb8f00d05e7cd3b7c633901c2d2a5e870a1f9cc3112a72b186bf1b746",
+    "visual_seed": 5583401880118248189,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb84f9c501b5fc5d320c5180289f53e33bf7a08a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_4_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22388564163706218,
+              -0.0533084281007444,
+              1.16237793007842
+            ],
+            "current_z": 1.16237793007842,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3057913630652097,
+            "gripper_z": 1.1557423281905002,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2194410691121254,
+              -0.057971310983068555,
+              1.1557423281905002
+            ],
+            "object_minus_gripper": [
+              0.0044445725249367685,
+              0.004662882882324158,
+              0.006635601887919895
+            ],
+            "object_to_gripper_xy": 0.006441793360834734,
+            "object_to_gripper_z": 0.006635601887919895,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22388564163706218,
+              -0.07660825962436725,
+              1.16237793007842
+            ],
+            "finger_b": [
+              0.2130231662614931,
+              -0.0533084281007444,
+              1.16237793007842
+            ],
+            "finger_midpoint": [
+              0.21845440394927762,
+              -0.06495834386255582,
+              1.16237793007842
+            ],
+            "object_minus_finger_midpoint": [
+              0.005431237687784557,
+              0.011649915761811423,
+              0.0
+            ],
+            "finger_gap": 0.025707499301061042,
+            "fingertip_max_gap": 0.09251595796297193,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012853749650530525,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16237793007842,
+            "object_top_z": 1.2081210390779102,
+            "finger_top_clearance": 0.04574310899949019,
+            "fingertip_min_top_clearance": 0.013722932699847057,
+            "object_projection_between_fingers": 0.8214590075468778,
+            "object_to_finger_line_xy": 0.009845136752364541,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875797898148597,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6278582588060364,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 314,
+            "max_stable_success_frames": 314,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2946280071739109,
+              -0.36827113255817545,
+              0.8470194205954207
+            ],
+            "target_position": [
+              0.2882092597671626,
+              -0.36859930942647545,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006427131423000877,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855239181906239,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194205954207,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753604686209721,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522628072119053,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15408932134728082,
+            "release_required_pad_clearance": 0.052613140360595265,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2880351855186629,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008057594299316406,
+            "max_z_decrease": 0.008057594299316406,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351837744119214,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008057594299316406,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021214924291406326,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008057594299316406,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008057604786581575,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14390918612480158,
+              -0.42486077547073364,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14390918612480158,
+              -0.42486077547073364,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1439634969104052,
+              -0.4267358832554004,
+              0.8038844212620526
+            ],
+            "closest_button": [
+              0.14390146732330317,
+              -0.42485031485557556,
+              0.7687512636184692
+            ],
+            "closest_ee_minus_button": [
+              6.202958710202489e-05,
+              -0.001885568399824844,
+              0.03513315764358338
+            ],
+            "button_min_z_position": [
+              0.14390146732330317,
+              -0.42485031485557556,
+              0.7687512636184692
+            ],
+            "min_active_finger_to_button": 0.1454764597049141,
+            "closest_active_finger": [
+              0.0031948313117027283,
+              -0.4110886752605438,
+              0.8107210397720337
+            ],
+            "closest_active_finger_button": [
+              0.14390879869461054,
+              -0.4248610734939575,
+              0.7764675617218018
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1407139673829078,
+              0.013772398233413696,
+              0.034253478050231934
+            ],
+            "min_contact_pad_to_button": 0.021214924291406326,
+            "closest_contact_pad": [
+              0.14390146732330317,
+              -0.42787277542052576,
+              0.7897497813000444
+            ],
+            "closest_contact_pad_button": [
+              0.14390146732330317,
+              -0.42485031485557556,
+              0.7687512636184692
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030224605649502023,
+              0.020998517681575124
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aff20a2156caf6f45520f1cb6e9a23ac1092c0fd05b282b552ee0301f34dd6cc",
+    "visual_seed": 6090710770695988675,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7172e70dee71baab47f39e229651dcc114ea2ed7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_50_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2332523676561087,
+              -0.04785464728206864,
+              1.1603247011062339
+            ],
+            "current_z": 1.1603247011062339,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3037381340930235,
+            "gripper_z": 1.1538377912327444,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2284884027993869,
+              -0.0524719675824461,
+              1.1538377912327444
+            ],
+            "object_minus_gripper": [
+              0.004763964856721814,
+              0.00461732030037746,
+              0.006486909873489433
+            ],
+            "object_to_gripper_xy": 0.006634380748220462,
+            "object_to_gripper_z": 0.006486909873489433,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2332523676561087,
+              -0.07162984812649044,
+              1.1603247011062339
+            ],
+            "finger_b": [
+              0.22280844775531888,
+              -0.04785464728206864,
+              1.1603247011062339
+            ],
+            "finger_midpoint": [
+              0.2280304077057138,
+              -0.059742247704279536,
+              1.1603247011062339
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052219599503949,
+              0.011887600422210896,
+              0.0
+            ],
+            "finger_gap": 0.02596797331496451,
+            "fingertip_max_gap": 0.09252668627700117,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012983986657482245,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1603247011062339,
+            "object_top_z": 1.2061800074876914,
+            "finger_top_clearance": 0.04585530638145752,
+            "fingertip_min_top_clearance": 0.013756591914437255,
+            "object_projection_between_fingers": 0.8382475183966349,
+            "object_to_finger_line_xy": 0.009562020502433322,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876334313850059,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4630728358905323,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2996972976168445,
+              -0.3578364165529022,
+              0.8470193610955327
+            ],
+            "target_position": [
+              0.2917847784317915,
+              -0.35904507647964384,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008004300011390287,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18676322292624403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193610955327,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576457277692096,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08844917010780216,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15434927096455167,
+            "release_required_pad_clearance": 0.054224585053901084,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4662782825519707,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008069813251495361,
+            "max_z_decrease": 0.008069813251495361,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515147209374693,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008069813251495361,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021082828635297104,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008069813251495361,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008069819556935177,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1474847048521042,
+              -0.41530653834342957,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1474847048521042,
+              -0.41530653834342957,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1457587431779431,
+              -0.4163472666693246,
+              0.8038324916971611
+            ],
+            "closest_button": [
+              0.1474827378988266,
+              -0.4152966439723968,
+              0.7687390446662903
+            ],
+            "closest_ee_minus_button": [
+              -0.0017239947208834983,
+              -0.0010506226969277943,
+              0.035093447030870806
+            ],
+            "button_min_z_position": [
+              0.1474827378988266,
+              -0.4152966439723968,
+              0.7687390446662903
+            ],
+            "min_active_finger_to_button": 0.14723289794667352,
+            "closest_active_finger": [
+              0.00513824075460434,
+              -0.39961540699005127,
+              0.8109213709831238
+            ],
+            "closest_active_finger_button": [
+              0.14748741686344147,
+              -0.4153080880641937,
+              0.7767456769943237
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14234917610883713,
+              0.015692681074142456,
+              0.03417569398880005
+            ],
+            "min_contact_pad_to_button": 0.021082828635297104,
+            "closest_contact_pad": [
+              0.1474827378988266,
+              -0.41757967844532523,
+              0.7896978952278245
+            ],
+            "closest_contact_pad_button": [
+              0.1474827378988266,
+              -0.4152966439723968,
+              0.7687390446662903
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022830344729284358,
+              0.020958850561534237
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e3e8d7e83379312dd61145c4830c8b7cb0db2b75c260c2b931a002af8793ac4",
+    "visual_seed": 5635105067238737967,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65edfd50cb3d214dc2518e70cc685d99f80ba049
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_51_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22711730805435013,
+              -0.04658608557377625,
+              1.160965685500904
+            ],
+            "current_z": 1.160965685500904,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.30437923769698316,
+            "gripper_z": 1.1543623815924113,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22254206155680709,
+              -0.051219393472190275,
+              1.1543623815924113
+            ],
+            "object_minus_gripper": [
+              0.00457524649754304,
+              0.004633307898414027,
+              0.00660330390849273
+            ],
+            "object_to_gripper_xy": 0.006511560688098181,
+            "object_to_gripper_z": 0.00660330390849273,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22711730805435013,
+              -0.07002222429520795,
+              1.160965685500904
+            ],
+            "finger_b": [
+              0.2164512158289419,
+              -0.04658608557377625,
+              1.160965685500904
+            ],
+            "finger_midpoint": [
+              0.22178426194164602,
+              -0.0583041549344921,
+              1.160965685500904
+            ],
+            "object_minus_finger_midpoint": [
+              0.005333046112704104,
+              0.01171806936071585,
+              0.0
+            ],
+            "finger_gap": 0.025749138267738288,
+            "fingertip_max_gap": 0.09277388204631454,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012874569133869139,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160965685500904,
+            "object_top_z": 1.2069257701517084,
+            "finger_top_clearance": 0.04596008465080437,
+            "fingertip_min_top_clearance": 0.013788025395241309,
+            "object_projection_between_fingers": 0.8284126486645706,
+            "object_to_finger_line_xy": 0.009707976026655915,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04888694102315727,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5711910668198512,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2913902971361484,
+              -0.3634239784992026,
+              0.8470195866897988
+            ],
+            "target_position": [
+              0.2835689547996826,
+              -0.3643874874155626,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007880466063380874,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18732551518935384,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195866897988,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520081294082488,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509013284359145,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15613748616965414,
+            "release_required_pad_clearance": 0.052545066421795725,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.15825869026647987,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007998764514923096,
+            "max_z_decrease": 0.007998764514923096,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520760119717359,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007998764514923096,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021058488648199813,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007998764514923096,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007998788438684016,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1392688751220703,
+              -0.4206489324569702,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1392688751220703,
+              -0.4206489324569702,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14116563015212327,
+              -0.4191397554806906,
+              0.8081348885797919
+            ],
+            "closest_button": [
+              0.1392623484134674,
+              -0.4206482470035553,
+              0.7730111479759216
+            ],
+            "closest_ee_minus_button": [
+              0.0019032817386558654,
+              0.0015084915228646967,
+              0.035123740603870246
+            ],
+            "button_min_z_position": [
+              0.13924939930438993,
+              -0.4206470847129822,
+              0.7688100934028625
+            ],
+            "min_active_finger_to_button": 0.14386331847402287,
+            "closest_active_finger": [
+              0.014460861682891846,
+              -0.4834764003753662,
+              0.8105739951133728
+            ],
+            "closest_active_finger_button": [
+              0.13926813006401062,
+              -0.42064863443374634,
+              0.7763326168060303
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12480726838111877,
+              -0.06282776594161987,
+              0.03424137830734253
+            ],
+            "min_contact_pad_to_button": 0.021058488648199813,
+            "closest_contact_pad": [
+              0.13924939930438993,
+              -0.4206470847129822,
+              0.7898685820510624
+            ],
+            "closest_contact_pad_button": [
+              0.13924939930438993,
+              -0.4206470847129822,
+              0.7688100934028625
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021058488648199813
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0070fb5a09710c08bb1243b0e3e06668009fd788a4adbde762bbd018245818ea",
+    "visual_seed": 2244366556206410928,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a0d3ee7dd819574cebdac37c6ab5c61fc629af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_52_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22714355109001488,
+              -0.048840407399935774,
+              1.1609143789494731
+            ],
+            "current_z": 1.1609143789494731,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.30432793114555257,
+            "gripper_z": 1.1544209390884534,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22227702455619505,
+              -0.05352397895578706,
+              1.1544209390884534
+            ],
+            "object_minus_gripper": [
+              0.004866526533819832,
+              0.004683571555851286,
+              0.00649343986101969
+            ],
+            "object_to_gripper_xy": 0.006754178190065146,
+            "object_to_gripper_z": 0.00649343986101969,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22714355109001488,
+              -0.07264925820001919,
+              1.1609143789494731
+            ],
+            "finger_b": [
+              0.21663031907609004,
+              -0.048840407399935774,
+              1.1609143789494731
+            ],
+            "finger_midpoint": [
+              0.22188693508305246,
+              -0.060744832799977486,
+              1.1609143789494731
+            ],
+            "object_minus_finger_midpoint": [
+              0.005256616006962422,
+              0.011904425400041711,
+              0.0
+            ],
+            "finger_gap": 0.026026705972889596,
+            "fingertip_max_gap": 0.09261897105906686,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013013352986444801,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1609143789494731,
+            "object_top_z": 1.206924598106828,
+            "finger_top_clearance": 0.046010219157354815,
+            "fingertip_min_top_clearance": 0.013803065747206444,
+            "object_projection_between_fingers": 0.8368323397216627,
+            "object_to_finger_line_xy": 0.009617351220201562,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880948552953343,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4464135371189133,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2915402449835548,
+              -0.3590564581175955,
+              0.8470196718049074
+            ],
+            "target_position": [
+              0.28406653597013054,
+              -0.35961216773292515,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007494340504267789,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18923648315445038,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196718049074,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537712933313917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670684421960066,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1575828851482647,
+            "release_required_pad_clearance": 0.05335342210980033,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7227843668910998,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00803452730178833,
+            "max_z_decrease": 0.00803452730178833,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516066373752609,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00803452730178833,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021081489725817977,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00803452730178833,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008034542937286067,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13976645469665525,
+              -0.41587361693382263,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13976645469665525,
+              -0.41587361693382263,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13785110183132054,
+              -0.4164195961350467,
+              0.8063892369644585
+            ],
+            "closest_button": [
+              0.13975216448307032,
+              -0.41586771607398987,
+              0.7712843418121338
+            ],
+            "closest_ee_minus_button": [
+              -0.0019010626517497742,
+              -0.0005518800610568309,
+              0.03510489515232473
+            ],
+            "button_min_z_position": [
+              0.13975119590759272,
+              -0.41586932539939875,
+              0.7687743306159973
+            ],
+            "min_active_finger_to_button": 0.14777253459223952,
+            "closest_active_finger": [
+              -0.0031170472502708435,
+              -0.40023064613342285,
+              0.8108242750167847
+            ],
+            "closest_active_finger_button": [
+              0.13976699113845825,
+              -0.41587498784065247,
+              0.7765295505523682
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1428840383887291,
+              0.015644341707229614,
+              0.034294724464416504
+            ],
+            "min_contact_pad_to_button": 0.021081489725817977,
+            "closest_contact_pad": [
+              0.13975119590759272,
+              -0.4176093205468148,
+              0.7897838909623429
+            ],
+            "closest_contact_pad_button": [
+              0.13975119590759272,
+              -0.41586932539939875,
+              0.7687743306159973
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017399951474160735,
+              0.0210095603463456
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ea33f1e71c0675c7d244c1baea3b365e6cf7bee7ec7b9e923f670c92dfdf9ad",
+    "visual_seed": 5609944807720846529,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8706d179555bbba74bd23435bfac3b57c125ab20
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_53_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22525129444567832,
+              -0.04371144493231481,
+              1.1622253214022877
+            ],
+            "current_z": 1.1622253214022877,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30563887359836694,
+            "gripper_z": 1.1555722241434012,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22074252422245313,
+              -0.04822530711285464,
+              1.1555722241434012
+            ],
+            "object_minus_gripper": [
+              0.004508770223225184,
+              0.004513862180539827,
+              0.00665309725888652
+            ],
+            "object_to_gripper_xy": 0.00637996557284989,
+            "object_to_gripper_z": 0.00665309725888652,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22525129444567832,
+              -0.06728073108351583,
+              1.1622253214022877
+            ],
+            "finger_b": [
+              0.21498966692109328,
+              -0.04371144493231481,
+              1.1622253214022877
+            ],
+            "finger_midpoint": [
+              0.2201204806833858,
+              -0.05549608800791532,
+              1.1622253214022877
+            ],
+            "object_minus_finger_midpoint": [
+              0.005130813762292519,
+              0.01178464307560051,
+              0.0
+            ],
+            "finger_gap": 0.025706268673818016,
+            "fingertip_max_gap": 0.09238475014914643,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012853134336909008,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622253214022877,
+            "object_top_z": 1.2082105472954565,
+            "finger_top_clearance": 0.04598522589316878,
+            "fingertip_min_top_clearance": 0.013795567767950634,
+            "object_projection_between_fingers": 0.8406491411261305,
+            "object_to_finger_line_xy": 0.009408570281937503,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869237507457322,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2240052978138727,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2983023121882197,
+              -0.3603117764232917,
+              0.8470194395273597
+            ],
+            "target_position": [
+              0.290899758508333,
+              -0.3610868670779752,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007443021329176852,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18532153242984975,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194395273597,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519390067011705,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596630559525274,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15423966262386318,
+            "release_required_pad_clearance": 0.05298315279762637,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0001369225088976,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008103013038635254,
+            "max_z_decrease": 0.008103013038635254,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351047582421157,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008103013038635254,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020962817615960902,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008103013038635254,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008103032802508485,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.146599680185318,
+              -0.417348325252533,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.146599680185318,
+              -0.417348325252533,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14695279735999567,
+              -0.41668722282829157,
+              0.8038029784522142
+            ],
+            "closest_button": [
+              0.14660878479480743,
+              -0.4173329174518586,
+              0.7687058448791504
+            ],
+            "closest_ee_minus_button": [
+              0.0003440125651882342,
+              0.0006456946235670058,
+              0.035097133573063766
+            ],
+            "button_min_z_position": [
+              0.14660878479480743,
+              -0.4173329174518586,
+              0.7687058448791504
+            ],
+            "min_active_finger_to_button": 0.14516829453945437,
+            "closest_active_finger": [
+              0.019876182079315186,
+              -0.47939005494117737,
+              0.8108713030815125
+            ],
+            "closest_active_finger_button": [
+              0.14660349488258362,
+              -0.41734722256660467,
+              0.776743471622467
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12672731280326843,
+              -0.0620428323745727,
+              0.03412783145904541
+            ],
+            "min_contact_pad_to_button": 0.020962817615960902,
+            "closest_contact_pad": [
+              0.14660878479480743,
+              -0.41789574180384387,
+              0.7896611055825836
+            ],
+            "closest_contact_pad_button": [
+              0.14660878479480743,
+              -0.4173329174518586,
+              0.7687058448791504
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005628243519852916,
+              0.02095526070343323
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e6dd32315c31d8f2bdc91d28dc6e7fb38ad38685966df864fc2fe258ed56c2c",
+    "visual_seed": 8078890049227806472,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d4238458b897744bbd5a8704035441c4ed51bd0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_54_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22385804958003386,
+              -0.055081552258896056,
+              1.1595438174874253
+            ],
+            "current_z": 1.1595438174874253,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3029573696835045,
+            "gripper_z": 1.1530588749248358,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21909009112308597,
+              -0.059741607960988,
+              1.1530588749248358
+            ],
+            "object_minus_gripper": [
+              0.004767958456947885,
+              0.004660055702091943,
+              0.0064849425625894686
+            ],
+            "object_to_gripper_xy": 0.006667049346883559,
+            "object_to_gripper_z": 0.0064849425625894686,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22385804958003386,
+              -0.07880364897947757,
+              1.1595438174874253
+            ],
+            "finger_b": [
+              0.21334110617099014,
+              -0.055081552258896056,
+              1.1595438174874253
+            ],
+            "finger_midpoint": [
+              0.21859957787551199,
+              -0.06694260061918682,
+              1.1595438174874253
+            ],
+            "object_minus_finger_midpoint": [
+              0.005258471704521872,
+              0.011861048360290762,
+              0.0
+            ],
+            "finger_gap": 0.025948872258532787,
+            "fingertip_max_gap": 0.09258352167624107,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012974436129266402,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1595438174874253,
+            "object_top_z": 1.205500424226314,
+            "finger_top_clearance": 0.045956606738888794,
+            "fingertip_min_top_clearance": 0.013786982021666639,
+            "object_projection_between_fingers": 0.8357361120731029,
+            "object_to_finger_line_xy": 0.009614442826977931,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048791760838120535,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4677607468124236,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 319,
+            "max_stable_success_frames": 319,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29018917885434214,
+              -0.3631456951017561,
+              0.8470193425698402
+            ],
+            "target_position": [
+              0.2829931375462659,
+              -0.3634748211658484,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007203564011904397,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18494255419286174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193425698402,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527826823873526,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08686971342722492,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15351101582416632,
+            "release_required_pad_clearance": 0.053434856713612464,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8825682803780373,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007966458797454834,
+            "max_z_decrease": 0.007966458797454834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519913986809746,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007966458797454834,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210538784037687,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007966458797454834,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007966484795091681,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13869306445121765,
+              -0.41973626613616943,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13869306445121765,
+              -0.41973626613616943,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14065433248812306,
+              -0.4190573124980502,
+              0.8081276251993439
+            ],
+            "closest_button": [
+              0.13868269324302673,
+              -0.4197382628917694,
+              0.772990345954895
+            ],
+            "closest_ee_minus_button": [
+              0.0019716392450963294,
+              0.0006809503937191819,
+              0.03513727924444887
+            ],
+            "button_min_z_position": [
+              0.13867279887199402,
+              -0.419734388589859,
+              0.7688423991203308
+            ],
+            "min_active_finger_to_button": 0.1441302703463501,
+            "closest_active_finger": [
+              0.012585259974002838,
+              -0.4805988669395447,
+              0.8104510307312012
+            ],
+            "closest_active_finger_button": [
+              0.13869212567806244,
+              -0.4197368323802948,
+              0.7762983441352844
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1261068657040596,
+              -0.06086203455924988,
+              0.03415268659591675
+            ],
+            "min_contact_pad_to_button": 0.0210538784037687,
+            "closest_contact_pad": [
+              0.13867279887199402,
+              -0.42025953281880574,
+              0.789889727202049
+            ],
+            "closest_contact_pad_button": [
+              0.13867279887199402,
+              -0.419734388589859,
+              0.7688423991203308
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005251442289467279,
+              0.021047328081718164
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73b5a26df9a49ec79a32e40c3e3e782cc12560c3cebbf32a293ed6bdccb2711c",
+    "visual_seed": 7314814325881976898,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2334592c3b108b66fbf9b584672f18485f7e27f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_55_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22181253077851998,
+              -0.049469278742947244,
+              1.162264263110517
+            ],
+            "current_z": 1.162264263110517,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3056777557019513,
+            "gripper_z": 1.1556680231503849,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21727084435482416,
+              -0.05395375751751591,
+              1.1556680231503849
+            ],
+            "object_minus_gripper": [
+              0.004541686423695818,
+              0.004484478774568666,
+              0.006596239960132033
+            ],
+            "object_to_gripper_xy": 0.006382590810222742,
+            "object_to_gripper_z": 0.006596239960132033,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22181253077851998,
+              -0.07304088506694921,
+              1.162264263110517
+            ],
+            "finger_b": [
+              0.21158518524955952,
+              -0.049469278742947244,
+              1.162264263110517
+            ],
+            "finger_midpoint": [
+              0.21669885801403976,
+              -0.06125508190494823,
+              1.162264263110517
+            ],
+            "object_minus_finger_midpoint": [
+              0.005113672764480215,
+              0.011785803162000986,
+              0.0
+            ],
+            "finger_gap": 0.025694731391133027,
+            "fingertip_max_gap": 0.09262077123057327,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012847365695566512,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162264263110517,
+            "object_top_z": 1.2083087954613647,
+            "finger_top_clearance": 0.04604453235084782,
+            "fingertip_min_top_clearance": 0.013813359705254347,
+            "object_projection_between_fingers": 0.8415699010266119,
+            "object_to_finger_line_xy": 0.009382272142817174,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881038561528664,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4415711908541222,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29689268514513406,
+              -0.3661607114345573,
+              0.8470191856436581
+            ],
+            "target_position": [
+              0.2877031066267502,
+              -0.3676267626812354,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009305786350622318,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18715205236657267,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191856436581,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518433283563396,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646677110592714,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15626077156380475,
+            "release_required_pad_clearance": 0.05323338555296357,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.485662125432695,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008126318454742432,
+            "max_z_decrease": 0.008126318454742432,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035075094730335606,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008126318454742432,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020939062161420934,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008126318454742432,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008126363338017816,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14340303838253016,
+              -0.42388820648193354,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14340303838253016,
+              -0.42388820648193354,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14152761283915613,
+              -0.42398910393879885,
+              0.803706062851841
+            ],
+            "closest_button": [
+              0.14342540502548212,
+              -0.4238730669021606,
+              0.7686825394630432
+            ],
+            "closest_ee_minus_button": [
+              -0.0018977921863259917,
+              -0.00011603703663826126,
+              0.03502352338879777
+            ],
+            "button_min_z_position": [
+              0.14342540502548212,
+              -0.4238730669021606,
+              0.7686825394630432
+            ],
+            "min_active_finger_to_button": 0.14743002860948132,
+            "closest_active_finger": [
+              0.013880543410778046,
+              -0.48547592759132385,
+              0.8108013868331909
+            ],
+            "closest_active_finger_button": [
+              0.14340429008007044,
+              -0.42388996481895447,
+              0.7766490578651428
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1295237466692924,
+              -0.061585962772369385,
+              0.034152328968048096
+            ],
+            "min_contact_pad_to_button": 0.020939062161420934,
+            "closest_contact_pad": [
+              0.14342540502548212,
+              -0.4253153592514496,
+              0.789571869681579
+            ],
+            "closest_contact_pad_button": [
+              0.14342540502548212,
+              -0.4238730669021606,
+              0.7686825394630432
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014422923492889983,
+              0.020889330218535784
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff52b90547856421e90aceba15815b4446e855a646ab2c0c16637fa3efdea467",
+    "visual_seed": 4512467534505682093,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4d437a8eff374d006849a3c227f862cce21f9b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_56_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22611585940223447,
+              -0.05084487841664194,
+              1.1600160255231282
+            ],
+            "current_z": 1.1600160255231282,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.3034295777192073,
+            "gripper_z": 1.1533829852993909,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2215535378786558,
+              -0.05555823999772301,
+              1.1533829852993909
+            ],
+            "object_minus_gripper": [
+              0.004562321523578661,
+              0.004713361581081071,
+              0.006633040223737341
+            ],
+            "object_to_gripper_xy": 0.006559767913464635,
+            "object_to_gripper_z": 0.006633040223737341,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22611585940223447,
+              -0.07419640520052637,
+              1.1600160255231282
+            ],
+            "finger_b": [
+              0.21519808710385346,
+              -0.05084487841664194,
+              1.1600160255231282
+            ],
+            "finger_midpoint": [
+              0.22065697325304395,
+              -0.06252064180858416,
+              1.1600160255231282
+            ],
+            "object_minus_finger_midpoint": [
+              0.005458886149190517,
+              0.01167576339194222,
+              0.0
+            ],
+            "finger_gap": 0.025777733707557912,
+            "fingertip_max_gap": 0.09247342646017676,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01288886685377897,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1600160255231282,
+            "object_top_z": 1.2058616987840667,
+            "finger_top_clearance": 0.04584567326093847,
+            "fingertip_min_top_clearance": 0.013753701978281541,
+            "object_projection_between_fingers": 0.82061810862027,
+            "object_to_finger_line_xy": 0.009890188762840939,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04873671323008838,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4657491818881256,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 319,
+            "max_stable_success_frames": 319,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2917238186792005,
+              -0.3598172962717859,
+              0.8470194053134795
+            ],
+            "target_position": [
+              0.2853181888805089,
+              -0.36014076471991185,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006413791776696416,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852555026868855,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194053134795,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568132733569793,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596016938364724,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15302911095831465,
+            "release_required_pad_clearance": 0.05298008469182362,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9946438001112192,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008093655109405518,
+            "max_z_decrease": 0.008093655109405518,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509571038215263,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008093655109405518,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02100594264338747,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008093655109405518,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008093671277155849,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14101810753345487,
+              -0.41640222072601313,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14101810753345487,
+              -0.41640222072601313,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13999072708285387,
+              -0.4164601379389108,
+              0.803795575953584
+            ],
+            "closest_button": [
+              0.14102566242218018,
+              -0.4163879156112671,
+              0.7687152028083801
+            ],
+            "closest_ee_minus_button": [
+              -0.0010349353393263039,
+              -7.222232764370062e-05,
+              0.03508037314520385
+            ],
+            "button_min_z_position": [
+              0.14102566242218018,
+              -0.4163879156112671,
+              0.7687152028083801
+            ],
+            "min_active_finger_to_button": 0.14670331455814753,
+            "closest_active_finger": [
+              0.013510584831237793,
+              -0.48037800192832947,
+              0.8107204437255859
+            ],
+            "closest_active_finger_button": [
+              0.14101803302764893,
+              -0.4164023697376251,
+              0.7765030264854431
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12750744819641113,
+              -0.06397563219070435,
+              0.03421741724014282
+            ],
+            "min_contact_pad_to_button": 0.02100594264338747,
+            "closest_contact_pad": [
+              0.14102566242218018,
+              -0.4175509101074194,
+              0.7896889261339893
+            ],
+            "closest_contact_pad_button": [
+              0.14102566242218018,
+              -0.4163879156112671,
+              0.7687152028083801
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011629944961523142,
+              0.020973723325609206
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e0a888b011fb8060bea706c125fe12a110851c2d700ec7dc56f3d8d3ee360ec3",
+    "visual_seed": 6441129016145466565,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa3de2fd32d6ae87fab3ac27aeb7b9a440184055
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_57_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22738477250148847,
+              -0.05182196955003329,
+              1.162859566424716
+            ],
+            "current_z": 1.162859566424716,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30627299941150576,
+            "gripper_z": 1.1561048335616928,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22281089229629017,
+              -0.05652074180293004,
+              1.1561048335616928
+            ],
+            "object_minus_gripper": [
+              0.004573880205198305,
+              0.004698772252896749,
+              0.006754732863023305
+            ],
+            "object_to_gripper_xy": 0.006557350136762355,
+            "object_to_gripper_z": 0.006754732863023305,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22738477250148847,
+              -0.07515405623666106,
+              1.162859566424716
+            ],
+            "finger_b": [
+              0.21646117978181018,
+              -0.05182196955003329,
+              1.162859566424716
+            ],
+            "finger_midpoint": [
+              0.22192297614164933,
+              -0.06348801289334718,
+              1.162859566424716
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054617963598391495,
+              0.011666043343313892,
+              0.0
+            ],
+            "finger_gap": 0.025762592009689583,
+            "fingertip_max_gap": 0.09239867873072,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012881296004844799,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162859566424716,
+            "object_top_z": 1.2087273787095671,
+            "finger_top_clearance": 0.04586781228485104,
+            "fingertip_min_top_clearance": 0.013760343685455312,
+            "object_projection_between_fingers": 0.8202156488792085,
+            "object_to_finger_line_xy": 0.009893034527313497,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869933936536,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3910244715924018,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 321,
+            "max_stable_success_frames": 321,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29578594591436663,
+              -0.3581465356922542,
+              0.8470194879905437
+            ],
+            "target_position": [
+              0.289033850047884,
+              -0.3586358220011117,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006769800564433721,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18735912431772694,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194879905437,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558150870775332,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08508541368291782,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1552721454694912,
+            "release_required_pad_clearance": 0.05254270684145891,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.15323262690913175,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007965922355651855,
+            "max_z_decrease": 0.007965922355651855,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520264190039596,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007965922355651855,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021047751948790293,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007965922355651855,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007965944224371488,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14473377168178556,
+              -0.4148972928524018,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14473377168178556,
+              -0.4148972928524018,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14661493336242162,
+              -0.41400380626915073,
+              0.8081447394717917
+            ],
+            "closest_button": [
+              0.14472281932830808,
+              -0.41490009427070623,
+              0.773004412651062
+            ],
+            "closest_ee_minus_button": [
+              0.0018921140341135456,
+              0.0008962880015555008,
+              0.03514032682072965
+            ],
+            "button_min_z_position": [
+              0.14471513032913208,
+              -0.4148963391780854,
+              0.7688429355621338
+            ],
+            "min_active_finger_to_button": 0.1441035736435059,
+            "closest_active_finger": [
+              0.0191495418548584,
+              -0.4767807126045227,
+              0.810452938079834
+            ],
+            "closest_active_finger_button": [
+              0.14473280310630796,
+              -0.41489815711975103,
+              0.7763174176216125
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12558326125144956,
+              -0.06188255548477167,
+              0.034135520458221436
+            ],
+            "min_contact_pad_to_button": 0.021047751948790293,
+            "closest_contact_pad": [
+              0.14471513032913208,
+              -0.4150852566368426,
+              0.7898898396644378
+            ],
+            "closest_contact_pad_button": [
+              0.14471513032913208,
+              -0.4148963391780854,
+              0.7688429355621338
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00018891745875720956,
+              0.02104690410230403
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c02aec76f53645b68cd4796531cf868eaf4477048b12f9ec2c132e2b441b6b40",
+    "visual_seed": 8914711378795873321,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdf73e7fe7c72a280c3f8e03fb1716923df0b718
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_58_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22253152137752535,
+              -0.04879761113935117,
+              1.158908395477187
+            ],
+            "current_z": 1.158908395477187,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3023218880686215,
+            "gripper_z": 1.1523529718406023,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21810198001160436,
+              -0.05348576609888876,
+              1.1523529718406023
+            ],
+            "object_minus_gripper": [
+              0.004429541365920997,
+              0.004688154959537595,
+              0.0065554236365847895
+            ],
+            "object_to_gripper_xy": 0.0064497777974936625,
+            "object_to_gripper_z": 0.0065554236365847895,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22253152137752535,
+              -0.07202889570604507,
+              1.158908395477187
+            ],
+            "finger_b": [
+              0.2115605393210003,
+              -0.04879761113935117,
+              1.158908395477187
+            ],
+            "finger_midpoint": [
+              0.21704603034926284,
+              -0.06041325342269811,
+              1.158908395477187
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054854910282625124,
+              0.011615642283346946,
+              0.0
+            ],
+            "finger_gap": 0.025691536153046684,
+            "fingertip_max_gap": 0.09252968375414602,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012845768076523332,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158908395477187,
+            "object_top_z": 1.204654828469709,
+            "finger_top_clearance": 0.0457464329925219,
+            "fingertip_min_top_clearance": 0.013723929897756537,
+            "object_projection_between_fingers": 0.8176478599030943,
+            "object_to_finger_line_xy": 0.009920387967965157,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048764841877073015,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6529245245293243,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 311,
+            "max_stable_success_frames": 311,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29902322619536614,
+              -0.36679249288359383,
+              0.8470185962052664
+            ],
+            "target_position": [
+              0.29284142687089004,
+              -0.3670337336657774,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006186504667668304,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18496834724472966,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470185962052664,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550580914540736,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504486993635339,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15304292155133117,
+            "release_required_pad_clearance": 0.0525224349681767,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11188258258946644,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008123457431793213,
+            "max_z_decrease": 0.008123457431793213,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509265598071878,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008123457431793213,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021096243181629573,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008123457431793213,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008123495946331083,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14854134619235992,
+              -0.42329519987106323,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14854134619235992,
+              -0.42329519987106323,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1484316233033196,
+              -0.4246405477808374,
+              0.8037513488647035
+            ],
+            "closest_button": [
+              0.14855916798114777,
+              -0.4232776463031769,
+              0.7686854004859924
+            ],
+            "closest_ee_minus_button": [
+              -0.00012754467782816192,
+              -0.0013629014776604942,
+              0.03506594837871102
+            ],
+            "button_min_z_position": [
+              0.14855916798114777,
+              -0.4232776463031769,
+              0.7686854004859924
+            ],
+            "min_active_finger_to_button": 0.14564127527729587,
+            "closest_active_finger": [
+              0.00793377310037613,
+              -0.4067981541156769,
+              0.8104832172393799
+            ],
+            "closest_active_finger_button": [
+              0.14854107797145844,
+              -0.42329609394073486,
+              0.7762957215309143
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1406073048710823,
+              0.016497939825057983,
+              0.034187495708465576
+            ],
+            "min_contact_pad_to_button": 0.021096243181629573,
+            "closest_contact_pad": [
+              0.14855916798114777,
+              -0.4259712578550894,
+              0.7896089741096796
+            ],
+            "closest_contact_pad_button": [
+              0.14855916798114777,
+              -0.4232776463031769,
+              0.7686854004859924
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026936115519125003,
+              0.02092357362368713
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d577b7b77c5ff80a52901fb09ed754aa98485d6f8206a2dba383862db633847e",
+    "visual_seed": 2122349660505145067,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a6c22f15329e805cb0b13955be3c12bcf4b64f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_59_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22188022303799104,
+              -0.047498137033105625,
+              1.1608421732198755
+            ],
+            "current_z": 1.1608421732198755,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3042556658113098,
+            "gripper_z": 1.1542059795079225,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21735921157561616,
+              -0.05204604948337446,
+              1.1542059795079225
+            ],
+            "object_minus_gripper": [
+              0.00452101146237488,
+              0.004547912450268837,
+              0.006636193711953009
+            ],
+            "object_to_gripper_xy": 0.006412725808752105,
+            "object_to_gripper_z": 0.006636193711953009,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22188022303799104,
+              -0.0709967662181339,
+              1.1608421732198755
+            ],
+            "finger_b": [
+              0.21147366310681986,
+              -0.047498137033105625,
+              1.1608421732198755
+            ],
+            "finger_midpoint": [
+              0.21667694307240545,
+              -0.059247451625619764,
+              1.1608421732198755
+            ],
+            "object_minus_finger_midpoint": [
+              0.005203279965585589,
+              0.011749314592514139,
+              0.0
+            ],
+            "finger_gap": 0.025699845586627953,
+            "fingertip_max_gap": 0.09254638582176597,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012849922793313977,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1608421732198755,
+            "object_top_z": 1.2068943596591635,
+            "finger_top_clearance": 0.04605218643928799,
+            "fingertip_min_top_clearance": 0.013815655931786396,
+            "object_projection_between_fingers": 0.8360341701329227,
+            "object_to_finger_line_xy": 0.009515228100888016,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877319291088299,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.486690850133132,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29923632267758854,
+              -0.363832495387608,
+              0.8470194753311594
+            ],
+            "target_position": [
+              0.290675645475137,
+              -0.365266791502701,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008679999971794016,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18765807247103256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194753311594,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559801069702465,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710685740959799,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15563967021393552,
+            "release_required_pad_clearance": 0.053553428704799,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.117757203633892,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008211970329284668,
+            "max_z_decrease": 0.008211970329284668,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035038910302486494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008211970329284668,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0208901494353001,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008211970329284668,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008212015409083406,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14637556672096247,
+              -0.42152824997901917,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14637556672096247,
+              -0.42152824997901917,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.147126980252713,
+              -0.4201836802513768,
+              0.8036031034530822
+            ],
+            "closest_button": [
+              0.146391749382019,
+              -0.4215063750743866,
+              0.768596887588501
+            ],
+            "closest_ee_minus_button": [
+              0.0007352308706940203,
+              0.0013226948230097846,
+              0.03500621586458119
+            ],
+            "button_min_z_position": [
+              0.146391749382019,
+              -0.4215063750743866,
+              0.768596887588501
+            ],
+            "min_active_finger_to_button": 0.1445395868759265,
+            "closest_active_finger": [
+              0.021279551088809967,
+              -0.48534852266311646,
+              0.8107398748397827
+            ],
+            "closest_active_finger_button": [
+              0.14637497067451474,
+              -0.4215283691883087,
+              0.776537299156189
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12509541958570478,
+              -0.06382015347480774,
+              0.03420257568359375
+            ],
+            "min_contact_pad_to_button": 0.0208901494353001,
+            "closest_contact_pad": [
+              0.146391749382019,
+              -0.4215063750743866,
+              0.7894870370238011
+            ],
+            "closest_contact_pad_button": [
+              0.146391749382019,
+              -0.4215063750743866,
+              0.768596887588501
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0208901494353001
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5512da3335c428e18d0ecf4729f8cb5cdaefce950ec57096fbc4133076c6949",
+    "visual_seed": 7184825608852442081,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f88ee09862b5966d3f01fbdec86902a379b95dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_5_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22292918179216417,
+              -0.049333141694294716,
+              1.1615042524145764
+            ],
+            "current_z": 1.1615042524145764,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3049177450060109,
+            "gripper_z": 1.1551137944101733,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2183480854102892,
+              -0.05400511564327182,
+              1.1551137944101733
+            ],
+            "object_minus_gripper": [
+              0.004581096381874983,
+              0.004671973948977101,
+              0.006390458004403188
+            ],
+            "object_to_gripper_xy": 0.006543224330553611,
+            "object_to_gripper_z": 0.006390458004403188,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22292918179216417,
+              -0.07274924332455086,
+              1.1615042524145764
+            ],
+            "finger_b": [
+              0.2121384160089766,
+              -0.049333141694294716,
+              1.1615042524145764
+            ],
+            "finger_midpoint": [
+              0.2175337989005704,
+              -0.06104119250942279,
+              1.1615042524145764
+            ],
+            "object_minus_finger_midpoint": [
+              0.005395382891593775,
+              0.011708050815128074,
+              0.0
+            ],
+            "finger_gap": 0.025782832306519322,
+            "fingertip_max_gap": 0.09293725144195197,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012891416153259654,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1615042524145764,
+            "object_top_z": 1.2073749520117014,
+            "finger_top_clearance": 0.045870699597124975,
+            "fingertip_min_top_clearance": 0.013761209879137492,
+            "object_projection_between_fingers": 0.8248366330855049,
+            "object_to_finger_line_xy": 0.009800229286040076,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896862572097599,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8365624553363937,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 319,
+            "max_stable_success_frames": 319,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30032375421789825,
+              -0.35747998989400864,
+              0.8470195192591493
+            ],
+            "target_position": [
+              0.2918032698703901,
+              -0.35890100479948406,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008638167449043478,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18806442697872305,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195192591493,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591361131954184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08743665960328749,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1552316390542848,
+            "release_required_pad_clearance": 0.05371832980164375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4460270996079974,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008037090301513672,
+            "max_z_decrease": 0.008037090301513672,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514152205128405,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008037090301513672,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021082133245072167,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008037090301513672,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008037107232172202,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1475031971931457,
+              -0.41516247391700745,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1475031971931457,
+              -0.41516247391700745,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14621957767000796,
+              -0.41600649721375926,
+              0.8080633020145637
+            ],
+            "closest_button": [
+              0.14749513566493982,
+              -0.415163367986679,
+              0.772955060005188
+            ],
+            "closest_ee_minus_button": [
+              -0.0012755579949318696,
+              -0.0008431292270802415,
+              0.03510824200937568
+            ],
+            "button_min_z_position": [
+              0.1474876701831817,
+              -0.4151569008827209,
+              0.768771767616272
+            ],
+            "min_active_finger_to_button": 0.14732593485986945,
+            "closest_active_finger": [
+              0.004823401570320129,
+              -0.40198105573654175,
+              0.8105176687240601
+            ],
+            "closest_active_finger_button": [
+              0.14750288426876063,
+              -0.4151626527309417,
+              0.7762577533721924
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1426794826984405,
+              0.013181596994399969,
+              0.034259915351867676
+            ],
+            "min_contact_pad_to_button": 0.021082133245072167,
+            "closest_contact_pad": [
+              0.1474876701831817,
+              -0.4169868986818941,
+              0.7897743257989791
+            ],
+            "closest_contact_pad_button": [
+              0.1474876701831817,
+              -0.4151569008827209,
+              0.768771767616272
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018299977991731997,
+              0.02100255818270713
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96f671a8cd9d78f16566765fe3c600aea8a7a4496b87a68a1a631c95e4ccb79c",
+    "visual_seed": 4294727882496574822,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..beaef702960bbdeae791f55481894d8d7a3ddba5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_60_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22640691810962846,
+              -0.053966458879586066,
+              1.1593385985239364
+            ],
+            "current_z": 1.1593385985239364,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3027520911153708,
+            "gripper_z": 1.152803612222996,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22183519443766633,
+              -0.05856021931048079,
+              1.152803612222996
+            ],
+            "object_minus_gripper": [
+              0.004571723671962125,
+              0.004593760430894725,
+              0.006534986300940293
+            ],
+            "object_to_gripper_xy": 0.006480994694430242,
+            "object_to_gripper_z": 0.006534986300940293,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22640691810962846,
+              -0.0774297907993235,
+              1.1593385985239364
+            ],
+            "finger_b": [
+              0.21582129528859123,
+              -0.053966458879586066,
+              1.1593385985239364
+            ],
+            "finger_midpoint": [
+              0.22111410669910986,
+              -0.06569812483945478,
+              1.1593385985239364
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052928114105186,
+              0.011731665959868715,
+              0.0
+            ],
+            "finger_gap": 0.02574069453773603,
+            "fingertip_max_gap": 0.09279451719347084,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012870347268868008,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1593385985239364,
+            "object_top_z": 1.2052949502631103,
+            "finger_top_clearance": 0.045956351739173895,
+            "fingertip_min_top_clearance": 0.013786905521752135,
+            "object_projection_between_fingers": 0.830881036151203,
+            "object_to_finger_line_xy": 0.009649078483994506,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048897258596735424,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6635572891898496,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 320,
+            "max_stable_success_frames": 320,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2911829312085007,
+              -0.3613666838629135,
+              0.8470195794178326
+            ],
+            "target_position": [
+              0.28341627795462004,
+              -0.36231232479849534,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007824010451492447,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18596726448839337,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195794178326,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581892285834696,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08733242593140776,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15344247606674502,
+            "release_required_pad_clearance": 0.05366621296570388,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.341721802123886,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007759809494018555,
+            "max_z_decrease": 0.007759809494018555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512622458826802,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007759809494018555,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021046672641886366,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007759809494018555,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007759830138193705,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13911619782447815,
+              -0.418573796749115,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13911619782447815,
+              -0.418573796749115,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1383930523308083,
+              -0.4186417371212669,
+              0.8082737566310371
+            ],
+            "closest_button": [
+              0.13910704851150513,
+              -0.41857394576072693,
+              0.7731548547744751
+            ],
+            "closest_ee_minus_button": [
+              -0.0007139961806968131,
+              -6.779136053997048e-05,
+              0.03511890185656197
+            ],
+            "button_min_z_position": [
+              0.1390983909368515,
+              -0.41857197880744934,
+              0.7690490484237671
+            ],
+            "min_active_finger_to_button": 0.14681192476016514,
+            "closest_active_finger": [
+              0.011001385748386383,
+              -0.4815845191478729,
+              0.8106890320777893
+            ],
+            "closest_active_finger_button": [
+              0.13911595940589905,
+              -0.41857394576072693,
+              0.7764828205108643
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12811457365751266,
+              -0.063010573387146,
+              0.03420621156692505
+            ],
+            "min_contact_pad_to_button": 0.021046672641886366,
+            "closest_contact_pad": [
+              0.1390983909368515,
+              -0.4196697617811335,
+              0.7900670716856587
+            ],
+            "closest_contact_pad_button": [
+              0.1390983909368515,
+              -0.41857197880744934,
+              0.7690490484237671
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010977829736841804,
+              0.021018023261891616
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4556608c275993e2e251b9070124ebeb087b7feb86b3da3cb424eda52d8c42d1",
+    "visual_seed": 8492301836883766408,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7425a87f3be9655063c97509db3a08b8cc014a7c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_61_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2239096207430991,
+              -0.04602667290471602,
+              1.1589700901993376
+            ],
+            "current_z": 1.1589700901993376,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30238352318612727,
+            "gripper_z": 1.1525911062288023,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2192850607450573,
+              -0.050735880655971496,
+              1.1525911062288023
+            ],
+            "object_minus_gripper": [
+              0.004624559998041816,
+              0.0047092077512554745,
+              0.006378983970535268
+            ],
+            "object_to_gripper_xy": 0.0066002418758688815,
+            "object_to_gripper_z": 0.006378983970535268,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2239096207430991,
+              -0.06943981212483058,
+              1.1589700901993376
+            ],
+            "finger_b": [
+              0.21304848008880745,
+              -0.04602667290471602,
+              1.1589700901993376
+            ],
+            "finger_midpoint": [
+              0.21847905041595328,
+              -0.0577332425147733,
+              1.1589700901993376
+            ],
+            "object_minus_finger_midpoint": [
+              0.005430570327145834,
+              0.011706569610057276,
+              0.0
+            ],
+            "finger_gap": 0.02580967772857255,
+            "fingertip_max_gap": 0.09297458378463869,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012904838864286271,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1589700901993376,
+            "object_top_z": 1.2049451992191478,
+            "finger_top_clearance": 0.04597510901981017,
+            "fingertip_min_top_clearance": 0.013792532705943083,
+            "object_projection_between_fingers": 0.8229133948561151,
+            "object_to_finger_line_xy": 0.009852637483600263,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048987291892319346,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6599471793873755,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 320,
+            "max_stable_success_frames": 320,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29739302534712664,
+              -0.3631459179518894,
+              0.8470194484233357
+            ],
+            "target_position": [
+              0.28996924858041595,
+              -0.36413273612168234,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007489076817751766,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18692222736535136,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194484233357,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578864786433656,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659859645044686,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15428165197597649,
+            "release_required_pad_clearance": 0.05329929822522343,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.616849189914401,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008146584033966064,
+            "max_z_decrease": 0.008146584033966064,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350268360708652,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008146584033966064,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02090399034634154,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008146584033966064,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008146662333139902,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14566917717456815,
+              -0.4203941822052002,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14566917717456815,
+              -0.4203941822052002,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14550642961097027,
+              -0.4198402047268671,
+              0.803684581310798
+            ],
+            "closest_button": [
+              0.1456959843635559,
+              -0.42037057876586914,
+              0.7686622738838196
+            ],
+            "closest_ee_minus_button": [
+              -0.00018955475258564114,
+              0.000530374039002024,
+              0.03502230742697843
+            ],
+            "button_min_z_position": [
+              0.1456959843635559,
+              -0.42037057876586914,
+              0.7686622738838196
+            ],
+            "min_active_finger_to_button": 0.14568245927337103,
+            "closest_active_finger": [
+              0.0193692147731781,
+              -0.48443979024887085,
+              0.8108773231506348
+            ],
+            "closest_active_finger_button": [
+              0.1456707566976547,
+              -0.4203930199146271,
+              0.7766821384429932
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263015419244766,
+              -0.06404677033424377,
+              0.0341951847076416
+            ],
+            "min_contact_pad_to_button": 0.02090399034634154,
+            "closest_contact_pad": [
+              0.1456959843635559,
+              -0.42086258517595465,
+              0.789560473377852
+            ],
+            "closest_contact_pad_button": [
+              0.1456959843635559,
+              -0.42037057876586914,
+              0.7686622738838196
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004920064100855104,
+              0.020898199494032377
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1acebe62760a903f71d9e21ebea49012e788be944b3dc264c9cb71e7df1369e8",
+    "visual_seed": 3113382383618819262,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..248b9ab5fe48abc8312ba2c65055efb76a5c68fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_62_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2316235748230127,
+              -0.05042640389230558,
+              1.1603220918747466
+            ],
+            "current_z": 1.1603220918747466,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.30373552486153643,
+            "gripper_z": 1.1537529782966849,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2271696916141262,
+              -0.055027236956578754,
+              1.1537529782966849
+            ],
+            "object_minus_gripper": [
+              0.004453883208886511,
+              0.004600833064273176,
+              0.006569113578061669
+            ],
+            "object_to_gripper_xy": 0.006403494399443987,
+            "object_to_gripper_z": 0.006569113578061669,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2316235748230127,
+              -0.07372519531262155,
+              1.1603220918747466
+            ],
+            "finger_b": [
+              0.22091978771536364,
+              -0.05042640389230558,
+              1.1603220918747466
+            ],
+            "finger_midpoint": [
+              0.22627168126918817,
+              -0.062075799602463566,
+              1.1603220918747466
+            ],
+            "object_minus_finger_midpoint": [
+              0.005351893553824538,
+              0.011649395710157988,
+              0.0
+            ],
+            "finger_gap": 0.02563990522785261,
+            "fingertip_max_gap": 0.09303977713902678,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012819952613926308,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1603220918747466,
+            "object_top_z": 1.2062574796893841,
+            "finger_top_clearance": 0.045935387814637574,
+            "fingertip_min_top_clearance": 0.013780616344391304,
+            "object_projection_between_fingers": 0.8257221899105552,
+            "object_to_finger_line_xy": 0.009726451834060451,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04901988856951339,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8449312677627798,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29791635512830716,
+              -0.36225082223107197,
+              0.8470183806086073
+            ],
+            "target_position": [
+              0.29113005357543925,
+              -0.36264829555126415,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006797931582968605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1884024649656122,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470183806086073,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519149075766338,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574224559265163,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15724754412806158,
+            "release_required_pad_clearance": 0.05287112279632582,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7833421603739055,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008192837238311768,
+            "max_z_decrease": 0.008192837238311768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350291353617732,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008192837238311768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105667326231324,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008192837238311768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008192953905294576,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1468299776315689,
+              -0.41890975832939137,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1468299776315689,
+              -0.41890975832939137,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14664668840849585,
+              -0.42073304293139396,
+              0.8035956332978971
+            ],
+            "closest_button": [
+              0.14686524868011475,
+              -0.4188839197158813,
+              0.7686160206794739
+            ],
+            "closest_ee_minus_button": [
+              -0.00021856027161890057,
+              -0.0018491232155126713,
+              0.034979612618423195
+            ],
+            "button_min_z_position": [
+              0.14686524868011475,
+              -0.4188839197158813,
+              0.7686160206794739
+            ],
+            "min_active_finger_to_button": 0.14575032453129225,
+            "closest_active_finger": [
+              0.005674615502357483,
+              -0.40695542097091675,
+              0.8108198046684265
+            ],
+            "closest_active_finger_button": [
+              0.1468299627304077,
+              -0.4189103543758391,
+              0.7765356302261353
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1411553472280502,
+              0.011954933404922374,
+              0.03428417444229126
+            ],
+            "min_contact_pad_to_button": 0.02105667326231324,
+            "closest_contact_pad": [
+              0.14686524868011475,
+              -0.42170634159200227,
+              0.789482678860146
+            ],
+            "closest_contact_pad_button": [
+              0.14686524868011475,
+              -0.4188839197158813,
+              0.7686160206794739
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002822421876120973,
+              0.020866658180672126
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b31b715ce4862ae16fe6a6c2dbb92a480b4c3e0186f4cb18515448e6e506521",
+    "visual_seed": 2863548572795108822,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce31d2e82246bfc4b4d8c63c0806eba1386801c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_63_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2214515626004046,
+              -0.05136439533925762,
+              1.1605839090193475
+            ],
+            "current_z": 1.1605839090193475,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3039974612154267,
+            "gripper_z": 1.1540620446175174,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2169414511947541,
+              -0.055991766095360926,
+              1.1540620446175174
+            ],
+            "object_minus_gripper": [
+              0.0045101114056504965,
+              0.004627370756103304,
+              0.006521864401830113
+            ],
+            "object_to_gripper_xy": 0.006461707592101237,
+            "object_to_gripper_z": 0.006521864401830113,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2214515626004046,
+              -0.07471324729459516,
+              1.1605839090193475
+            ],
+            "finger_b": [
+              0.21065818463224395,
+              -0.05136439533925762,
+              1.1605839090193475
+            ],
+            "finger_midpoint": [
+              0.21605487361632428,
+              -0.0630388213169264,
+              1.1605839090193475
+            ],
+            "object_minus_finger_midpoint": [
+              0.005396688984080328,
+              0.011674425977668774,
+              0.0
+            ],
+            "finger_gap": 0.025722867172923117,
+            "fingertip_max_gap": 0.09266002726951972,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01286143358646156,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1605839090193475,
+            "object_top_z": 1.2063309910503772,
+            "finger_top_clearance": 0.04574708203102973,
+            "fingertip_min_top_clearance": 0.013724124609308885,
+            "object_projection_between_fingers": 0.8239337878240383,
+            "object_to_finger_line_xy": 0.009797235377472376,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883001363475986,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7843404105141851,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 314,
+            "max_stable_success_frames": 314,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2914400415710192,
+              -0.3618065087735507,
+              0.8470182376624587
+            ],
+            "target_position": [
+              0.28404257244492265,
+              -0.36248265346498665,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007428305399975753,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18592743502846462,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470182376624587,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543235833791934,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08598169638322427,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15414187794737572,
+            "release_required_pad_clearance": 0.052990848191612136,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0079200829991921,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007868289947509766,
+            "max_z_decrease": 0.007868289947509766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035133380372633916,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007868289947509766,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021099319195694945,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007868289947509766,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00786831143912738,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1397424936294555,
+              -0.41874411702156067,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1397424936294555,
+              -0.41874411702156067,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13968844755381285,
+              -0.4190703534920979,
+              0.8081936071328002
+            ],
+            "closest_button": [
+              0.13973300158977503,
+              -0.4187459945678711,
+              0.7730617523193359
+            ],
+            "closest_ee_minus_button": [
+              -4.455403596217988e-05,
+              -0.00032435892422683077,
+              0.03513185481346426
+            ],
+            "button_min_z_position": [
+              0.13972425460815424,
+              -0.41874176263809204,
+              0.7689405679702759
+            ],
+            "min_active_finger_to_button": 0.14616589673811226,
+            "closest_active_finger": [
+              -0.0012954026460647583,
+              -0.4013895094394684,
+              0.8106059432029724
+            ],
+            "closest_active_finger_button": [
+              0.13974224030971522,
+              -0.4187445342540741,
+              0.776376485824585
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14103764295577997,
+              0.017355024814605713,
+              0.03422945737838745
+            ],
+            "min_contact_pad_to_button": 0.021099319195694945,
+            "closest_contact_pad": [
+              0.13972425460815424,
+              -0.42031726193060587,
+              0.7899809831872128
+            ],
+            "closest_contact_pad_button": [
+              0.13972425460815424,
+              -0.41874176263809204,
+              0.7689405679702759
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015754992925138267,
+              0.021040415216936892
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "336dc2cdee8b639de8825c953517adbd908343eec410a0f35e57e72e00c5423f",
+    "visual_seed": 2689692906324270590,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04ee13c6490c4ecc8bffdfa660eaa9f3a77c8bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_64_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22378594011358544,
+              -0.05294428775129139,
+              1.162092713405378
+            ],
+            "current_z": 1.162092713405378,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30550620599681244,
+            "gripper_z": 1.1556600678160107,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2190933066407421,
+              -0.05766183049072214,
+              1.1556600678160107
+            ],
+            "object_minus_gripper": [
+              0.004692633472843322,
+              0.004717542739430751,
+              0.006432645589367292
+            ],
+            "object_to_gripper_xy": 0.0066540227237968895,
+            "object_to_gripper_z": 0.006432645589367292,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22378594011358544,
+              -0.07637602841499931,
+              1.162092713405378
+            ],
+            "finger_b": [
+              0.21283168727971036,
+              -0.05294428775129139,
+              1.162092713405378
+            ],
+            "finger_midpoint": [
+              0.2183088136966479,
+              -0.06466015808314535,
+              1.162092713405378
+            ],
+            "object_minus_finger_midpoint": [
+              0.005477126416937539,
+              0.011715870331853957,
+              0.0
+            ],
+            "finger_gap": 0.025865848636372313,
+            "fingertip_max_gap": 0.09249047112150605,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012932924318186153,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162092713405378,
+            "object_top_z": 1.2079328242135006,
+            "finger_top_clearance": 0.04584011080812256,
+            "fingertip_min_top_clearance": 0.013752033242436734,
+            "object_projection_between_fingers": 0.8206455908489338,
+            "object_to_finger_line_xy": 0.00992340190250366,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048745235560753025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6088506480378926,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 316,
+            "max_stable_success_frames": 316,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2945023440973389,
+              -0.36081198682884486,
+              0.8470195612385831
+            ],
+            "target_position": [
+              0.28549009190271485,
+              -0.362146908198683,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009110582016707624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.188385469677682,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195612385831,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515745673694656,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595606090045203,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15736406535794586,
+            "release_required_pad_clearance": 0.05297803045022602,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9907014549032851,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008005619049072266,
+            "max_z_decrease": 0.008005619049072266,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513953223640066,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008005619049072266,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109731475517981,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008005619049072266,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008005650719025129,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1411900222301483,
+              -0.4184083640575409,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1411900222301483,
+              -0.4184083640575409,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1420907542922197,
+              -0.41889457155093757,
+              0.808124246953144
+            ],
+            "closest_button": [
+              0.14118237793445582,
+              -0.4184083342552185,
+              0.7729998230934143
+            ],
+            "closest_ee_minus_button": [
+              0.0009083763577638904,
+              -0.0004862372957190608,
+              0.03512442385972969
+            ],
+            "button_min_z_position": [
+              0.141167551279068,
+              -0.4184069037437439,
+              0.7688032388687134
+            ],
+            "min_active_finger_to_button": 0.14525359378297326,
+            "closest_active_finger": [
+              0.0008178949356079102,
+              -0.4036098122596741,
+              0.8105990290641785
+            ],
+            "closest_active_finger_button": [
+              0.14118933677673337,
+              -0.41840842366218567,
+              0.7763139605522156
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14037144184112546,
+              0.014798611402511597,
+              0.03428506851196289
+            ],
+            "min_contact_pad_to_button": 0.02109731475517981,
+            "closest_contact_pad": [
+              0.141167551279068,
+              -0.4198660240612967,
+              0.7898500357218697
+            ],
+            "closest_contact_pad_button": [
+              0.141167551279068,
+              -0.4184069037437439,
+              0.7688032388687134
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014591203175527978,
+              0.021046796853156358
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2100cfb7933b040ebca84e0f625d732adf33b260cd6a4c16794715c4acc8837e",
+    "visual_seed": 5848986404969573816,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c05d4598df8d9c5f0f85cedb3d2dc773bd5f037b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_65_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22934801804323676,
+              -0.05485087263049032,
+              1.160818598693229
+            ],
+            "current_z": 1.160818598693229,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3042321508893081,
+            "gripper_z": 1.154124645788436,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22473896262120716,
+              -0.059567325350990935,
+              1.154124645788436
+            ],
+            "object_minus_gripper": [
+              0.0046090554220296065,
+              0.0047164527205006135,
+              0.00669395290479291
+            ],
+            "object_to_gripper_xy": 0.0065945673207617,
+            "object_to_gripper_z": 0.00669395290479291,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22934801804323676,
+              -0.07824791257152561,
+              1.160818598693229
+            ],
+            "finger_b": [
+              0.2184538484247232,
+              -0.05485087263049032,
+              1.160818598693229
+            ],
+            "finger_midpoint": [
+              0.22390093323397997,
+              -0.06654939260100796,
+              1.160818598693229
+            ],
+            "object_minus_finger_midpoint": [
+              0.005447084809256791,
+              0.011698519970517643,
+              0.0
+            ],
+            "finger_gap": 0.0258089986182987,
+            "fingertip_max_gap": 0.09250433404088457,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012904499309149357,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160818598693229,
+            "object_top_z": 1.2067248163304924,
+            "finger_top_clearance": 0.04590621763726355,
+            "fingertip_min_top_clearance": 0.013771865291179098,
+            "object_projection_between_fingers": 0.8218253325569839,
+            "object_to_finger_line_xy": 0.009876063982895306,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048752167020442286,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4209503133719317,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 319,
+            "max_stable_success_frames": 319,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2942729712123936,
+              -0.35862753223097354,
+              0.8470195726469754
+            ],
+            "target_position": [
+              0.2866066523203066,
+              -0.359688324579992,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007739362103100388,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18731362049675923,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195726469754,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591313673544008,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086217639976136,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.154630014039577,
+            "release_required_pad_clearance": 0.053108819988068004,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.244250826964229,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007881343364715576,
+            "max_z_decrease": 0.007881343364715576,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513501836546737,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007881343364715576,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021102924673992513,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007881343364715576,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00788136622356034,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14230658113956451,
+              -0.4159497916698455,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14230658113956451,
+              -0.4159497916698455,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14172080544020904,
+              -0.41661387992570853,
+              0.808166966366914
+            ],
+            "closest_button": [
+              0.14229683578014374,
+              -0.4159514009952545,
+              0.7730429172515869
+            ],
+            "closest_ee_minus_button": [
+              -0.0005760303399346967,
+              -0.0006624789304540135,
+              0.03512404911532707
+            ],
+            "button_min_z_position": [
+              0.14228776097297668,
+              -0.41594731807708735,
+              0.7689275145530701
+            ],
+            "min_active_finger_to_button": 0.14664937872066916,
+            "closest_active_finger": [
+              0.0005531907081604004,
+              -0.40047982335090637,
+              0.8105952739715576
+            ],
+            "closest_active_finger_button": [
+              0.14230623841285706,
+              -0.41595029830932617,
+              0.7763494253158569
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14175304770469666,
+              0.0154704749584198,
+              0.034245848655700684
+            ],
+            "min_contact_pad_to_button": 0.021102924673992513,
+            "closest_contact_pad": [
+              0.14228776097297668,
+              -0.4177165658918586,
+              0.7899561424675615
+            ],
+            "closest_contact_pad_button": [
+              0.14228776097297668,
+              -0.41594731807708735,
+              0.7689275145530701
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017692478147712798,
+              0.02102862791449145
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa0a9336b1e5a5c11e4ae840fb423f17b6ba1b1141bb287412fa8c427335191f",
+    "visual_seed": 1502169365523929833,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1ea28cd2b39765742db57b64fb65f083d0284d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_66_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22074741486254043,
+              -0.046409479820059066,
+              1.1601920573766393
+            ],
+            "current_z": 1.1601920573766393,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.3036056095727184,
+            "gripper_z": 1.153556041240338,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21634926595307177,
+              -0.05094162137264102,
+              1.153556041240338
+            ],
+            "object_minus_gripper": [
+              0.004398148909468658,
+              0.004532141552581956,
+              0.00663601613630127
+            ],
+            "object_to_gripper_xy": 0.006315379710080806,
+            "object_to_gripper_z": 0.00663601613630127,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22074741486254043,
+              -0.06969141390839541,
+              1.1601920573766393
+            ],
+            "finger_b": [
+              0.21016449868787263,
+              -0.046409479820059066,
+              1.1601920573766393
+            ],
+            "finger_midpoint": [
+              0.21545595677520651,
+              -0.05805044686422724,
+              1.1601920573766393
+            ],
+            "object_minus_finger_midpoint": [
+              0.005291458087333917,
+              0.011640967044168171,
+              0.0
+            ],
+            "finger_gap": 0.025574334197661596,
+            "fingertip_max_gap": 0.09285648527599732,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012787167098830803,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1601920573766393,
+            "object_top_z": 1.2061416102834392,
+            "finger_top_clearance": 0.04594955290679992,
+            "fingertip_min_top_clearance": 0.013784865872039975,
+            "object_projection_between_fingers": 0.8287612534695376,
+            "object_to_finger_line_xy": 0.009634298001139501,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048928242637998665,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8500914796057977,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 318,
+            "max_stable_success_frames": 318,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2966252048433342,
+              -0.36528967720435457,
+              0.847018113272603
+            ],
+            "target_position": [
+              0.28998790936661517,
+              -0.3658610502741252,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006661843470852053,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18723494259653212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847018113272603,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587968939322974,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08711597704526118,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15442316262916098,
+            "release_required_pad_clearance": 0.05355798852263059,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1203382880078627,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00814884901046753,
+            "max_z_decrease": 0.00814884901046753,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502143934596207,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00814884901046753,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020927449540420633,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00814884901046753,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008148933356935934,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14568783342838282,
+              -0.42212250828742975,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14568783342838282,
+              -0.42212250828742975,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14465282922042277,
+              -0.4224602534086259,
+              0.8036633761677144
+            ],
+            "closest_button": [
+              0.14571975171566007,
+              -0.42210364341735834,
+              0.7686600089073181
+            ],
+            "closest_ee_minus_button": [
+              -0.0010669224952372935,
+              -0.00035660999126757575,
+              0.03500336726039632
+            ],
+            "button_min_z_position": [
+              0.14571975171566007,
+              -0.42210364341735834,
+              0.7686600089073181
+            ],
+            "min_active_finger_to_button": 0.14668144601204897,
+            "closest_active_finger": [
+              0.003769032657146454,
+              -0.40798309445381165,
+              0.8108921647071838
+            ],
+            "closest_active_finger_button": [
+              0.14568810164928436,
+              -0.42212235927581776,
+              0.7766211032867432
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1419190689921379,
+              0.014139264822006115,
+              0.034271061420440674
+            ],
+            "min_contact_pad_to_button": 0.020927449540420633,
+            "closest_contact_pad": [
+              0.14571975171566007,
+              -0.4234958465644665,
+              0.7895410987894108
+            ],
+            "closest_contact_pad_button": [
+              0.14571975171566007,
+              -0.42210364341735834,
+              0.7686600089073181
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013922031471081397,
+              0.020881089882092696
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7869f207fc76c380f03f1cca8250a7bae8c48987418944cc8b6c3a5fb73e8761",
+    "visual_seed": 5708883019910021200,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa6f2fc1d3aa2812740d9157a63b6fe0ce102f94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_67_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23047602637267917,
+              -0.049729973033986505,
+              1.1616074803160232
+            ],
+            "current_z": 1.1616074803160232,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30502097290745767,
+            "gripper_z": 1.1550968639578751,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2259643301518075,
+              -0.05418425488438104,
+              1.1550968639578751
+            ],
+            "object_minus_gripper": [
+              0.004511696220871664,
+              0.004454281850394537,
+              0.006510616358148091
+            ],
+            "object_to_gripper_xy": 0.006340033879419086,
+            "object_to_gripper_z": 0.006510616358148091,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23047602637267917,
+              -0.07355060741950746,
+              1.1616074803160232
+            ],
+            "finger_b": [
+              0.22055821142689214,
+              -0.049729973033986505,
+              1.1616074803160232
+            ],
+            "finger_midpoint": [
+              0.22551711889978565,
+              -0.06164029022674698,
+              1.1616074803160232
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049589074728935145,
+              0.011910317192760478,
+              0.0
+            ],
+            "finger_gap": 0.025802823020505718,
+            "fingertip_max_gap": 0.09304069017626515,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012901411510252859,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1616074803160232,
+            "object_top_z": 1.2074286834817265,
+            "finger_top_clearance": 0.04582120316570326,
+            "fingertip_min_top_clearance": 0.013746360949711012,
+            "object_projection_between_fingers": 0.8522601839148672,
+            "object_to_finger_line_xy": 0.009155922339935403,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04902034508813258,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9482300642313999,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2984581801188777,
+              -0.36132583877311697,
+              0.8470194811685414
+            ],
+            "target_position": [
+              0.2923466131465062,
+              -0.36134689572209777,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006111603247338859,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18546286840922713,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194811685414,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522779247369556,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08687857162290578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15409488159275553,
+            "release_required_pad_clearance": 0.053439285811452894,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8921069874662086,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008205294609069824,
+            "max_z_decrease": 0.008205294609069824,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507297139954815,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008205294609069824,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021051981728713337,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008205294609069824,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008205351011389889,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14804653823375702,
+              -0.4176083505153656,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14804653823375702,
+              -0.4176083505153656,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14966413774760826,
+              -0.41907201676051814,
+              0.8036084059281597
+            ],
+            "closest_button": [
+              0.14806437492370605,
+              -0.417583703994751,
+              0.7686035633087158
+            ],
+            "closest_ee_minus_button": [
+              0.001599762823902201,
+              -0.0014883127657671635,
+              0.03500484261944392
+            ],
+            "button_min_z_position": [
+              0.14806437492370605,
+              -0.417583703994751,
+              0.7686035633087158
+            ],
+            "min_active_finger_to_button": 0.14396779277561245,
+            "closest_active_finger": [
+              0.009043626487255096,
+              -0.40226441621780396,
+              0.81070476770401
+            ],
+            "closest_active_finger_button": [
+              0.14804592728614807,
+              -0.41760969161987305,
+              0.7765052318572998
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13900230079889297,
+              0.015345275402069092,
+              0.034199535846710205
+            ],
+            "min_contact_pad_to_button": 0.021051981728713337,
+            "closest_contact_pad": [
+              0.14806437492370605,
+              -0.42031409802622893,
+              0.7894777311517449
+            ],
+            "closest_contact_pad_button": [
+              0.14806437492370605,
+              -0.417583703994751,
+              0.7686035633087158
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027303940314779562,
+              0.02087416784302909
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6894b73bd0bb4c6017a9a7ecd20ab746e20d5f3aea52f322c06f8162d7b8f556",
+    "visual_seed": 6805054803667581072,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..312d215e7377ee740afa223bec804a0b1cd8a634
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_68_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23300568068227115,
+              -0.05335481201982492,
+              1.1600716540673477
+            ],
+            "current_z": 1.1600716540673477,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.30348508705413757,
+            "gripper_z": 1.1533831667299388,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2283742390251415,
+              -0.057916524305115014,
+              1.1533831667299388
+            ],
+            "object_minus_gripper": [
+              0.004631441657129642,
+              0.004561712285290093,
+              0.006688487337408899
+            ],
+            "object_to_gripper_xy": 0.0065007284820366345,
+            "object_to_gripper_z": 0.006688487337408899,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23300568068227115,
+              -0.07712527184348707,
+              1.1600716540673477
+            ],
+            "finger_b": [
+              0.22279058251355002,
+              -0.05335481201982492,
+              1.1600716540673477
+            ],
+            "finger_midpoint": [
+              0.22789813159791059,
+              -0.065240041931656,
+              1.1600716540673477
+            ],
+            "object_minus_finger_midpoint": [
+              0.005107549084360563,
+              0.01188522991183108,
+              0.0
+            ],
+            "finger_gap": 0.025872436893824784,
+            "fingertip_max_gap": 0.09245955008012904,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012936218446912399,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1600716540673477,
+            "object_top_z": 1.2060880154281897,
+            "finger_top_clearance": 0.04601636136084197,
+            "fingertip_min_top_clearance": 0.013804908408252591,
+            "object_projection_between_fingers": 0.8441128142978189,
+            "object_to_finger_line_xy": 0.009385183993715946,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048729775040064524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4542187946779224,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2924043990504668,
+              -0.36676043954339266,
+              0.8470195463971248
+            ],
+            "target_position": [
+              0.2829597438321971,
+              -0.36818684828004816,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009551761830992034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18983546206620228,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195463971248,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522569972684684,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860689045095868,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15860763706710873,
+            "release_required_pad_clearance": 0.053034452254793404,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1000162227974828,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008096277713775635,
+            "max_z_decrease": 0.008096277713775635,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513242689030888,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008096277713775635,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020992045101242085,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008096277713775635,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008096297345279974,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13865967094898224,
+              -0.42444831132888794,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13865967094898224,
+              -0.42444831132888794,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13907899614135147,
+              -0.42294595091349013,
+              0.8038111354008073
+            ],
+            "closest_button": [
+              0.1386679410934448,
+              -0.42443251609802246,
+              0.76871258020401
+            ],
+            "closest_ee_minus_button": [
+              0.00041105504790667213,
+              0.0014865651845323291,
+              0.035098555196797276
+            ],
+            "button_min_z_position": [
+              0.1386679410934448,
+              -0.42443251609802246,
+              0.76871258020401
+            ],
+            "min_active_finger_to_button": 0.1448152604201419,
+            "closest_active_finger": [
+              0.013018153607845306,
+              -0.48777490854263306,
+              0.8111005425453186
+            ],
+            "closest_active_finger_button": [
+              0.13865788280963898,
+              -0.42444887757301336,
+              0.7768086791038513
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12563972920179367,
+              -0.0633260309696197,
+              0.034291863441467285
+            ],
+            "min_contact_pad_to_button": 0.020992045101242085,
+            "closest_contact_pad": [
+              0.1386679410934448,
+              -0.42443251609802246,
+              0.7897046253052521
+            ],
+            "closest_contact_pad_button": [
+              0.1386679410934448,
+              -0.42443251609802246,
+              0.76871258020401
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020992045101242085
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cebe71c33fcfdc882d01a4067909b8b6e501e71e3cacd697829b6b120763fb9e",
+    "visual_seed": 8180870819680017847,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87e8405b6fa619199d0876c5001408064f61f9b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_69_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2215609464872254,
+              -0.0511162128815186,
+              1.1607459869331518
+            ],
+            "current_z": 1.1607459869331518,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3041594795245862,
+            "gripper_z": 1.1542728120024075,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21708901671690176,
+              -0.055706043414777154,
+              1.1542728120024075
+            ],
+            "object_minus_gripper": [
+              0.004471929770323652,
+              0.0045898305332585515,
+              0.006473174930744285
+            ],
+            "object_to_gripper_xy": 0.006408174482232786,
+            "object_to_gripper_z": 0.006473174930744285,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2215609464872254,
+              -0.07442618621407911,
+              1.1607459869331518
+            ],
+            "finger_b": [
+              0.21082434463248043,
+              -0.0511162128815186,
+              1.1607459869331518
+            ],
+            "finger_midpoint": [
+              0.2161926455598529,
+              -0.06277119954779886,
+              1.1607459869331518
+            ],
+            "object_minus_finger_midpoint": [
+              0.005368300927372505,
+              0.01165498666628026,
+              0.0
+            ],
+            "finger_gap": 0.025663777511348466,
+            "fingertip_max_gap": 0.09283539386108558,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012831888755674245,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1607459869331518,
+            "object_top_z": 1.206532645125618,
+            "finger_top_clearance": 0.04578665819246619,
+            "fingertip_min_top_clearance": 0.01373599745773989,
+            "object_projection_between_fingers": 0.8249780437085831,
+            "object_to_finger_line_xy": 0.009751873152958737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891769693054279,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0173798918987305,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 314,
+            "max_stable_success_frames": 314,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29188943321692046,
+              -0.36691842139478326,
+              0.8470196811686576
+            ],
+            "target_position": [
+              0.2839569847251718,
+              -0.3678927793930348,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007992065601770458,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1873596128838601,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196811686576,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555298527200163,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638694154325265,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15543769801774573,
+            "release_required_pad_clearance": 0.053193470771626325,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4077548810964013,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00811547040939331,
+            "max_z_decrease": 0.00811547040939331,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505372414255104,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00811547040939331,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02099316427330673,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00811547040939331,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008115505483163032,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1396569162607193,
+              -0.42415425181388855,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1396569162607193,
+              -0.42415425181388855,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13878175019314637,
+              -0.4248083267927303,
+              0.8037293339273506
+            ],
+            "closest_button": [
+              0.13967411220073697,
+              -0.4241377115249634,
+              0.7686933875083923
+            ],
+            "closest_ee_minus_button": [
+              -0.0008923620075906025,
+              -0.0006706152677669053,
+              0.03503594641895824
+            ],
+            "button_min_z_position": [
+              0.13967411220073697,
+              -0.4241377115249634,
+              0.7686933875083923
+            ],
+            "min_active_finger_to_button": 0.14652651358595947,
+            "closest_active_finger": [
+              -0.00215708464384079,
+              -0.41075780987739563,
+              0.8111252784729004
+            ],
+            "closest_active_finger_button": [
+              0.13965839147567746,
+              -0.42415314912796026,
+              0.7767893671989441
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14181547611951825,
+              0.01339533925056463,
+              0.0343359112739563
+            ],
+            "min_contact_pad_to_button": 0.02099316427330673,
+            "closest_contact_pad": [
+              0.13967411220073697,
+              -0.4258065474663059,
+              0.789620115222178
+            ],
+            "closest_contact_pad_button": [
+              0.13967411220073697,
+              -0.4241377115249634,
+              0.7686933875083923
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001668835941342539,
+              0.020926727713785676
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48ada866c8f18c6f501cebbe556582febce0a7e41dc377bd39706c97dd6742ec",
+    "visual_seed": 5959767689559331473,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d908a93347bb73713e1b07d2bb01a25059b419af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_6_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23313768252747738,
+              -0.051498261732730206,
+              1.1614073497112394
+            ],
+            "current_z": 1.1614073497112394,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3048209019073186,
+            "gripper_z": 1.1546498152057882,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2285540206389183,
+              -0.055930387501361895,
+              1.1546498152057882
+            ],
+            "object_minus_gripper": [
+              0.004583661888559076,
+              0.004432125768631688,
+              0.006757534505451135
+            ],
+            "object_to_gripper_xy": 0.006376025026425005,
+            "object_to_gripper_z": 0.006757534505451135,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23313768252747738,
+              -0.07530511348532135,
+              1.1614073497112394
+            ],
+            "finger_b": [
+              0.22314963547281164,
+              -0.051498261732730206,
+              1.1614073497112394
+            ],
+            "finger_midpoint": [
+              0.2281436590001445,
+              -0.06340168760902577,
+              1.1614073497112394
+            ],
+            "object_minus_finger_midpoint": [
+              0.004994023527332886,
+              0.011903425876295566,
+              0.0
+            ],
+            "finger_gap": 0.025817189512727153,
+            "fingertip_max_gap": 0.09187561725701962,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012908594756363578,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1614073497112394,
+            "object_top_z": 1.2072175451880895,
+            "finger_top_clearance": 0.04581019547685017,
+            "fingertip_min_top_clearance": 0.013743058643055051,
+            "object_projection_between_fingers": 0.8503270791647807,
+            "object_to_finger_line_xy": 0.009210295931364297,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843780862850981,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9653738599919943,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2952256064011598,
+              -0.3590307904737988,
+              0.8470197429005246
+            ],
+            "target_position": [
+              0.28752762593909714,
+              -0.3598883721459413,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007745601946827191,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18492526722357366,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197429005246,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578298807709441,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08838827143840088,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15241458571802077,
+            "release_required_pad_clearance": 0.05419413571920044,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.403837672276546,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00782698392868042,
+            "max_z_decrease": 0.00782698392868042,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516161779059467,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00782698392868042,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021143377965054697,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00782698392868042,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007827004502616228,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14322754740715027,
+              -0.4161498248577118,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14322754740715027,
+              -0.4161498248577118,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14165638467371475,
+              -0.4173260274664128,
+              0.8081952214263405
+            ],
+            "closest_button": [
+              0.1432153731584549,
+              -0.4161522090435028,
+              0.7730877995491028
+            ],
+            "closest_ee_minus_button": [
+              -0.001558988484740148,
+              -0.001173818422909978,
+              0.0351074218772377
+            ],
+            "button_min_z_position": [
+              0.1432097852230072,
+              -0.41614726185798645,
+              0.7689818739891052
+            ],
+            "min_active_finger_to_button": 0.14752239148219962,
+            "closest_active_finger": [
+              0.0006178915500640869,
+              -0.40015044808387756,
+              0.8105977773666382
+            ],
+            "closest_active_finger_button": [
+              0.14322674274444577,
+              -0.4161509573459625,
+              0.7763990163803101
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14260885119438169,
+              0.01600050926208496,
+              0.034198760986328125
+            ],
+            "min_contact_pad_to_button": 0.021143377965054697,
+            "closest_contact_pad": [
+              0.1432097852230072,
+              -0.4185835112019226,
+              0.7899844243320358
+            ],
+            "closest_contact_pad_button": [
+              0.1432097852230072,
+              -0.41614726185798645,
+              0.7689818739891052
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024362493439361588,
+              0.021002550342930526
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "09bb48dd5cfa5469cdec7fe94764899f6c04db55e7352f71222db339e53c754e",
+    "visual_seed": 7074383126886482415,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8458e880f7d4dc08f323518a6c9a71c5731d6edb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_70_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23388314042208236,
+              -0.04690595992950653,
+              1.1592252485197918
+            ],
+            "current_z": 1.1592252485197918,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30263874111122624,
+            "gripper_z": 1.152623558423372,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2291788326516895,
+              -0.0514531940391052,
+              1.152623558423372
+            ],
+            "object_minus_gripper": [
+              0.0047043077703928515,
+              0.004547234109598668,
+              0.0066016900964198655
+            ],
+            "object_to_gripper_xy": 0.006542770792720478,
+            "object_to_gripper_z": 0.0066016900964198655,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23388314042208236,
+              -0.07082256448271256,
+              1.1592252485197918
+            ],
+            "finger_b": [
+              0.22372521173459864,
+              -0.04690595992950653,
+              1.1592252485197918
+            ],
+            "finger_midpoint": [
+              0.2288041760783405,
+              -0.05886426220610955,
+              1.1592252485197918
+            ],
+            "object_minus_finger_midpoint": [
+              0.00507896434374186,
+              0.011958302276603015,
+              0.0
+            ],
+            "finger_gap": 0.025984370082309863,
+            "fingertip_max_gap": 0.09176161415421358,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012992185041154935,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1592252485197918,
+            "object_top_z": 1.2049968657285617,
+            "finger_top_clearance": 0.04577161720876988,
+            "fingertip_min_top_clearance": 0.013731485162630995,
+            "object_projection_between_fingers": 0.8471779809814579,
+            "object_to_finger_line_xy": 0.009349588338245328,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838080707710679,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.978218962056347,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2934775784853775,
+              -0.3602623599660461,
+              0.8470196492112326
+            ],
+            "target_position": [
+              0.2860093466207756,
+              -0.3610115160410676,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0075057126249408555,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18740456218407536,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196492112326,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590096651073878,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08893941263912251,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15444626936927913,
+            "release_required_pad_clearance": 0.05446970631956126,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9683208688863756,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007979631423950195,
+            "max_z_decrease": 0.007979631423950195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522629987859339,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007979631423950195,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021049878016893123,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007979631423950195,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007979653510642561,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14170926809310913,
+              -0.41727298498153675,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14170926809310913,
+              -0.41727298498153675,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14397740441034507,
+              -0.4162902993942189,
+              0.8081348194396266
+            ],
+            "closest_button": [
+              0.14169944822788239,
+              -0.41727370023727406,
+              0.7729960083961487
+            ],
+            "closest_ee_minus_button": [
+              0.0022779561824626815,
+              0.0009834008430551489,
+              0.035138811043477935
+            ],
+            "button_min_z_position": [
+              0.14169052243232727,
+              -0.41727194190025324,
+              0.7688292264938354
+            ],
+            "min_active_finger_to_button": 0.143738794778465,
+            "closest_active_finger": [
+              0.016515426337718964,
+              -0.47908660769462585,
+              0.8104655146598816
+            ],
+            "closest_active_finger_button": [
+              0.1417083442211151,
+              -0.4172733128070831,
+              0.7763086557388306
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12519291788339615,
+              -0.06181329488754278,
+              0.034156858921051025
+            ],
+            "min_contact_pad_to_button": 0.021049878016893123,
+            "closest_contact_pad": [
+              0.14169052243232727,
+              -0.41735111835989197,
+              0.7898789556040715
+            ],
+            "closest_contact_pad_button": [
+              0.14169052243232727,
+              -0.41727194190025324,
+              0.7688292264938354
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.91764596387301e-05,
+              0.02104972911023606
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "34c382f48bacc3aa116ea9682aa35ffd79d60970d142232375b3c0b002d279c9",
+    "visual_seed": 4416251532409194928,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..77edacf5033e05f1d27c5e80a3f900fbf2f212fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_71_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22599389112081247,
+              -0.04973277813897339,
+              1.161642943760271
+            ],
+            "current_z": 1.161642943760271,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30505637674706076,
+            "gripper_z": 1.1549967021896008,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22151087421788904,
+              -0.054146876577659014,
+              1.1549967021896008
+            ],
+            "object_minus_gripper": [
+              0.004483016902923437,
+              0.004414098438685628,
+              0.006646241570670286
+            ],
+            "object_to_gripper_xy": 0.006291399333876697,
+            "object_to_gripper_z": 0.006646241570670286,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22599389112081247,
+              -0.07343399064355317,
+              1.161642943760271
+            ],
+            "finger_b": [
+              0.21606768489154438,
+              -0.04973277813897339,
+              1.161642943760271
+            ],
+            "finger_midpoint": [
+              0.22103078800617842,
+              -0.06158338439126328,
+              1.161642943760271
+            ],
+            "object_minus_finger_midpoint": [
+              0.004963103114634049,
+              0.01185060625228989,
+              0.0
+            ],
+            "finger_gap": 0.025695856558854195,
+            "fingertip_max_gap": 0.09232091017875527,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012847928279427094,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161642943760271,
+            "object_top_z": 1.2076477233937186,
+            "finger_top_clearance": 0.04600477963344751,
+            "fingertip_min_top_clearance": 0.013801433890034253,
+            "object_projection_between_fingers": 0.8507754116888446,
+            "object_to_finger_line_xy": 0.009155683238864452,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048660455089377636,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2183614902866002,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29513301158787697,
+              -0.3670029064806831,
+              0.8470197028217772
+            ],
+            "target_position": [
+              0.28656396279746993,
+              -0.368411251236567,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008684010140701238,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1881739424918702,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197028217772,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546956988862788,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08765380674979527,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15628921318132477,
+            "release_required_pad_clearance": 0.053826903374897636,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.66208965146708,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008167624473571777,
+            "max_z_decrease": 0.008167624473571777,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035018189525513777,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008167624473571777,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020888612246649507,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008167624473571777,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00816770652547181,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14226388931274414,
+              -0.42467272281646723,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14226388931274414,
+              -0.42467272281646723,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14277511103751026,
+              -0.42386548873249796,
+              0.8036473336555626
+            ],
+            "closest_button": [
+              0.1422905474901199,
+              -0.4246476292610168,
+              0.7686412334442139
+            ],
+            "closest_ee_minus_button": [
+              0.0004845635473903487,
+              0.0007821405285188265,
+              0.035006100211348756
+            ],
+            "button_min_z_position": [
+              0.1422905474901199,
+              -0.4246476292610168,
+              0.7686412334442139
+            ],
+            "min_active_finger_to_button": 0.14498235611326096,
+            "closest_active_finger": [
+              0.015949085354804993,
+              -0.4870914816856384,
+              0.8107441067695618
+            ],
+            "closest_active_finger_button": [
+              0.14226342737674713,
+              -0.42467290163040156,
+              0.77656090259552
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12631434202194214,
+              -0.06241858005523687,
+              0.03418320417404175
+            ],
+            "min_contact_pad_to_button": 0.020888612246649507,
+            "closest_contact_pad": [
+              0.1422905474901199,
+              -0.42502444456680116,
+              0.789526446677892
+            ],
+            "closest_contact_pad_button": [
+              0.1422905474901199,
+              -0.4246476292610168,
+              0.7686412334442139
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003768153057843726,
+              0.02088521323367809
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a63de12fdc45dcd8b183b076e43f55c8b4e05eb91a41d0689dd0173f7f19d7b8",
+    "visual_seed": 3670702398734567033,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce72ef8d5e126a4bbd248294d311e7d841f22f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_72_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22088231934276817,
+              -0.05212691183088972,
+              1.1607607541885319
+            ],
+            "current_z": 1.1607607541885319,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3041742467799662,
+            "gripper_z": 1.154158495847511,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21624083666221383,
+              -0.05671288558735971,
+              1.154158495847511
+            ],
+            "object_minus_gripper": [
+              0.0046414826805543374,
+              0.004585973756469984,
+              0.006602258341020795
+            ],
+            "object_to_gripper_xy": 0.006524915077525323,
+            "object_to_gripper_z": 0.006602258341020795,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22088231934276817,
+              -0.0756882459248762,
+              1.1607607541885319
+            ],
+            "finger_b": [
+              0.2103603364151878,
+              -0.05212691183088972,
+              1.1607607541885319
+            ],
+            "finger_midpoint": [
+              0.21562132787897798,
+              -0.06390757887788297,
+              1.1607607541885319
+            ],
+            "object_minus_finger_midpoint": [
+              0.005260991463790193,
+              0.011780667046993244,
+              0.0
+            ],
+            "finger_gap": 0.025804042106165118,
+            "fingertip_max_gap": 0.09243460902942216,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012902021053082567,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1607607541885319,
+            "object_top_z": 1.2067150222927645,
+            "finger_top_clearance": 0.04595426810423264,
+            "fingertip_min_top_clearance": 0.013786280431269792,
+            "object_projection_between_fingers": 0.833727777524045,
+            "object_to_finger_line_xy": 0.00960748529505427,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871730451471108,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.424079253735,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 318,
+            "max_stable_success_frames": 318,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2969593076527596,
+              -0.36058035705277713,
+              0.8470184878864461
+            ],
+            "target_position": [
+              0.2897193636111464,
+              -0.3611220897222794,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007260183469506529,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18548279307830293,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470184878864461,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519153761848248,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513503328200477,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542973225896208,
+            "release_required_pad_clearance": 0.052567516641002385,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1978099484796295,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008052647113800049,
+            "max_z_decrease": 0.008052647113800049,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351736216038838,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008052647113800049,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021017077080237923,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008052647113800049,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00805265318728577,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14541928470134732,
+              -0.41738355159759516,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14541928470134732,
+              -0.41738355159759516,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14583377729698205,
+              -0.4158327408824198,
+              0.8080397175312749
+            ],
+            "closest_button": [
+              0.1454069912433624,
+              -0.4173865616321563,
+              0.7729030251502991
+            ],
+            "closest_ee_minus_button": [
+              0.00042678605361964883,
+              0.0015538207497365342,
+              0.03513669238097583
+            ],
+            "button_min_z_position": [
+              0.1454110145568847,
+              -0.41737812757492065,
+              0.7687562108039856
+            ],
+            "min_active_finger_to_button": 0.1451021411519641,
+            "closest_active_finger": [
+              0.01801244169473648,
+              -0.47786232829093933,
+              0.8109344840049744
+            ],
+            "closest_active_finger_button": [
+              0.14541831612586972,
+              -0.41738456487655634,
+              0.7768051028251648
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12740587443113324,
+              -0.06047776341438299,
+              0.03412938117980957
+            ],
+            "min_contact_pad_to_button": 0.021017077080237923,
+            "closest_contact_pad": [
+              0.1454110145568847,
+              -0.41737812757492065,
+              0.7897732878842235
+            ],
+            "closest_contact_pad_button": [
+              0.1454110145568847,
+              -0.41737812757492065,
+              0.7687562108039856
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021017077080237923
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "15fa2e8c808f953a6e9a744c2484926f37f6ccec21739577a69ecddba2af73e8",
+    "visual_seed": 7186653425468879401,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f16aae9916606b865ed361e10a3c7f0b6267db3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_73_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22732932197030103,
+              -0.05104564859365904,
+              1.1608645624481482
+            ],
+            "current_z": 1.1608645624481482,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3042780550395826,
+            "gripper_z": 1.1544992058959087,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22236794240676674,
+              -0.055777510250982265,
+              1.1544992058959087
+            ],
+            "object_minus_gripper": [
+              0.0049613795635342905,
+              0.0047318616573232275,
+              0.006365356552239465
+            ],
+            "object_to_gripper_xy": 0.0068560777356664665,
+            "object_to_gripper_z": 0.006365356552239465,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22732932197030103,
+              -0.07494888132497367,
+              1.1608645624481482
+            ],
+            "finger_b": [
+              0.216761100402595,
+              -0.05104564859365904,
+              1.1608645624481482
+            ],
+            "finger_midpoint": [
+              0.22204521118644802,
+              -0.06299726495931635,
+              1.1608645624481482
+            ],
+            "object_minus_finger_midpoint": [
+              0.005284110783853019,
+              0.011951616365657308,
+              0.0
+            ],
+            "finger_gap": 0.026135260513557506,
+            "fingertip_max_gap": 0.09252334324701425,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013067630256778746,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1608645624481482,
+            "object_top_z": 1.206804800478614,
+            "finger_top_clearance": 0.045940238030465874,
+            "fingertip_min_top_clearance": 0.013782071409139762,
+            "object_projection_between_fingers": 0.836487803387122,
+            "object_to_finger_line_xy": 0.009665664497889116,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876167162350713,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2767972997667283,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2941615541018643,
+              -0.3598347447182083,
+              0.8470195949060276
+            ],
+            "target_position": [
+              0.2854275701908487,
+              -0.3613138539635267,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008858342910356637,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18703691323163502,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195949060276,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757679592462523,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08742321783683081,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15458997063139418,
+            "release_required_pad_clearance": 0.05371160891841541,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4322279410282497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007921755313873291,
+            "max_z_decrease": 0.007921755313873291,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351632535369913,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007921755313873291,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0212042268083664,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007921755313873291,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007921782419143401,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14112749695777893,
+              -0.41757529973983765,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14112749695777893,
+              -0.41757529973983765,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14111824896251887,
+              -0.41908765202816173,
+              0.8081561900155203
+            ],
+            "closest_button": [
+              0.14111749827861786,
+              -0.41757717728614807,
+              0.773025393486023
+            ],
+            "closest_ee_minus_button": [
+              7.506839010129607e-07,
+              -0.0015104747420136566,
+              0.035130796529497355
+            ],
+            "button_min_z_position": [
+              0.14110694825649261,
+              -0.41757261753082275,
+              0.7688871026039124
+            ],
+            "min_active_finger_to_button": 0.145986253581756,
+            "closest_active_finger": [
+              9.866058826446533e-05,
+              -0.4017082452774048,
+              0.8105583190917969
+            ],
+            "closest_active_finger_button": [
+              0.14112721383571625,
+              -0.41757580637931824,
+              0.7763361930847168
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14102855324745178,
+              0.015867561101913452,
+              0.03422212600708008
+            ],
+            "min_contact_pad_to_button": 0.0212042268083664,
+            "closest_contact_pad": [
+              0.14110694825649261,
+              -0.42030773117685505,
+              0.7899141896081536
+            ],
+            "closest_contact_pad_button": [
+              0.14110694825649261,
+              -0.41757261753082275,
+              0.7688871026039124
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027351136460322945,
+              0.021027087004241274
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e43cf28cbf6686516d96dd2f3ace15f0087523983867e18f3f3237b7d83e70f",
+    "visual_seed": 8542859390599578547,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dbffd4d5535225c912dd349fee7c1f23adf0e6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_74_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2257261226721439,
+              -0.048575211683745616,
+              1.1621576369696616
+            ],
+            "current_z": 1.1621576369696616,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3055711295610959,
+            "gripper_z": 1.1554768685983539,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22124617280359146,
+              -0.05325738879458412,
+              1.1554768685983539
+            ],
+            "object_minus_gripper": [
+              0.004479949868552435,
+              0.004682177110838508,
+              0.00668076837130771
+            ],
+            "object_to_gripper_xy": 0.006480180037776961,
+            "object_to_gripper_z": 0.00668076837130771,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2257261226721439,
+              -0.07184698954804725,
+              1.1621576369696616
+            ],
+            "finger_b": [
+              0.2148254274005303,
+              -0.048575211683745616,
+              1.1621576369696616
+            ],
+            "finger_midpoint": [
+              0.2202757750363371,
+              -0.060211100615896435,
+              1.1621576369696616
+            ],
+            "object_minus_finger_midpoint": [
+              0.00545034763580679,
+              0.011635888932150819,
+              0.0
+            ],
+            "finger_gap": 0.025698264578955105,
+            "fingertip_max_gap": 0.09252406380668715,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01284913228947755,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1621576369696616,
+            "object_top_z": 1.20802690619215,
+            "finger_top_clearance": 0.04586926922248846,
+            "fingertip_min_top_clearance": 0.013760780766746538,
+            "object_projection_between_fingers": 0.8200711492503465,
+            "object_to_finger_line_xy": 0.009871427626874787,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876203190334358,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.502760035711501,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 321,
+            "max_stable_success_frames": 321,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29626409745461535,
+              -0.36239620511591164,
+              0.8470188508516513
+            ],
+            "target_position": [
+              0.2899710255032486,
+              -0.362650278579806,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006298198782996147,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18469833752040835,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470188508516513,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553161512198756,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507220701113348,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15263378156897428,
+            "release_required_pad_clearance": 0.05253610350556674,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1370257995872835,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008165180683135986,
+            "max_z_decrease": 0.008165180683135986,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501908973909973,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008165180683135986,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02100234437416029,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008165180683135986,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00816527362050842,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14567095041275022,
+              -0.418911725282669,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14567095041275022,
+              -0.418911725282669,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14580112788141383,
+              -0.420250568701266,
+              0.8036361543508279
+            ],
+            "closest_button": [
+              0.14570268988609314,
+              -0.41888913512229914,
+              0.7686436772346497
+            ],
+            "closest_ee_minus_button": [
+              9.843799532069375e-05,
+              -0.001361433578966842,
+              0.034992477116178256
+            ],
+            "button_min_z_position": [
+              0.14570268988609314,
+              -0.41888913512229914,
+              0.7686436772346497
+            ],
+            "min_active_finger_to_button": 0.14546800387612904,
+            "closest_active_finger": [
+              0.004853300750255585,
+              -0.40643829107284546,
+              0.8109385967254639
+            ],
+            "closest_active_finger_button": [
+              0.14567156136035916,
+              -0.41891118884086603,
+              0.7766517996788025
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14081826061010358,
+              0.012472897768020574,
+              0.03428679704666138
+            ],
+            "min_contact_pad_to_button": 0.02100234437416029,
+            "closest_contact_pad": [
+              0.14570268988609314,
+              -0.42122671426033254,
+              0.7895155289250065
+            ],
+            "closest_contact_pad_button": [
+              0.14570268988609314,
+              -0.41888913512229914,
+              0.7686436772346497
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023375791380333966,
+              0.02087185169035688
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f79361464c8752f477d676ecf7476b562dc26b04f0083d9540f3e4c15de4314d",
+    "visual_seed": 197393430704935654,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e8c264d9b159fb40718e24d7780e764010512a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_75_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23215493590683417,
+              -0.04738816144752877,
+              1.1580310023501934
+            ],
+            "current_z": 1.1580310023501934,
+            "required_z": 0.8565863881992758,
+            "initial_z": 0.7565863881992758,
+            "lift_margin": 0.3014446141509176,
+            "gripper_z": 1.1514873580890201,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22765407498522122,
+              -0.05189630209632709,
+              1.1514873580890201
+            ],
+            "object_minus_gripper": [
+              0.004500860921612948,
+              0.004508140648798321,
+              0.006543644261173265
+            ],
+            "object_to_gripper_xy": 0.006370328181895365,
+            "object_to_gripper_z": 0.006543644261173265,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23215493590683417,
+              -0.07098968809581735,
+              1.1580310023501934
+            ],
+            "finger_b": [
+              0.2218858514539201,
+              -0.04738816144752877,
+              1.1580310023501934
+            ],
+            "finger_midpoint": [
+              0.22702039368037713,
+              -0.05918892477167306,
+              1.1580310023501934
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051345422264570395,
+              0.011800763324144294,
+              0.0
+            ],
+            "finger_gap": 0.025738806414264,
+            "fingertip_max_gap": 0.0924918104479831,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012869403207132004,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1580310023501934,
+            "object_top_z": 1.2039374555750526,
+            "finger_top_clearance": 0.0459064532248592,
+            "fingertip_min_top_clearance": 0.013771935967457726,
+            "object_projection_between_fingers": 0.8408206803949793,
+            "object_to_finger_line_xy": 0.009416367894770081,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048745905223991554,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2862847548609702,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29166238033643455,
+              -0.36408626567814767,
+              0.8470195810483874
+            ],
+            "target_position": [
+              0.28479892008153807,
+              -0.3647092497445529,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006891675835204267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18611666587857972,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195810483874,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584117095056113,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08726984453861673,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15353875421810473,
+            "release_required_pad_clearance": 0.05363492226930837,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2797324494077493,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008045732975006104,
+            "max_z_decrease": 0.008045732975006104,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351323863718424,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008045732975006104,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021108684745278623,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008045732975006104,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008045745390216045,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14049884676933286,
+              -0.42097070813179016,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14049884676933286,
+              -0.42097070813179016,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1393191549865319,
+              -0.42214496316381284,
+              0.8080691999862913
+            ],
+            "closest_button": [
+              0.14049263298511505,
+              -0.4209694266319275,
+              0.7729761004447937
+            ],
+            "closest_ee_minus_button": [
+              -0.001173477998583139,
+              -0.0011755365318853461,
+              0.03509309954149764
+            ],
+            "button_min_z_position": [
+              0.1404876857995987,
+              -0.42096203565597534,
+              0.7687631249427795
+            ],
+            "min_active_finger_to_button": 0.14722583531329145,
+            "closest_active_finger": [
+              -0.002115108072757721,
+              -0.408436119556427,
+              0.8106325268745422
+            ],
+            "closest_active_finger_button": [
+              0.1404987871646881,
+              -0.420970618724823,
+              0.7762870788574219
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14261389523744583,
+              0.012534499168395996,
+              0.03434544801712036
+            ],
+            "min_contact_pad_to_button": 0.021108684745278623,
+            "closest_contact_pad": [
+              0.1404876857995987,
+              -0.42306507126158854,
+              0.7897667868358181
+            ],
+            "closest_contact_pad_button": [
+              0.1404876857995987,
+              -0.42096203565597534,
+              0.7687631249427795
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021030356056132016,
+              0.021003661893038594
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "00a4222894354bb94b4afae9706dff6130398ce46843857c906203cc6cb4b4ba",
+    "visual_seed": 725544885362341172,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4924dde5f8541010fc553df9102e1cd6958930f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_76_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22818275605057864,
+              -0.05493946377256558,
+              1.1627948019260874
+            ],
+            "current_z": 1.1627948019260874,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3062083541221666,
+            "gripper_z": 1.156004324361388,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2238262317574628,
+              -0.05947327900143902,
+              1.156004324361388
+            ],
+            "object_minus_gripper": [
+              0.004356524293115838,
+              0.004533815228873438,
+              0.006790477564699415
+            ],
+            "object_to_gripper_xy": 0.006287669237966732,
+            "object_to_gripper_z": 0.006790477564699415,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22818275605057864,
+              -0.07825172590023992,
+              1.1627948019260874
+            ],
+            "finger_b": [
+              0.2176755094539009,
+              -0.05493946377256558,
+              1.1627948019260874
+            ],
+            "finger_midpoint": [
+              0.22292913275223977,
+              -0.06659559483640275,
+              1.1627948019260874
+            ],
+            "object_minus_finger_midpoint": [
+              0.005253623298338866,
+              0.011656131063837165,
+              0.0
+            ],
+            "finger_gap": 0.02557076057830105,
+            "fingertip_max_gap": 0.09283880387845178,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012785380289150522,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627948019260874,
+            "object_top_z": 1.208713050944037,
+            "finger_top_clearance": 0.0459182490179495,
+            "fingertip_min_top_clearance": 0.013775474705384849,
+            "object_projection_between_fingers": 0.8311540849555483,
+            "object_to_finger_line_xy": 0.009579210057198077,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891940193922589,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7682705359171833,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29865009770317746,
+              -0.36063960460990374,
+              0.8470195411092074
+            ],
+            "target_position": [
+              0.29204996678574335,
+              -0.3610594518096387,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0066134710854735684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18819892653942608,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195411092074,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554922289745697,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08657207201487564,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15610474438462602,
+            "release_required_pad_clearance": 0.05328603600743782,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5909853311436322,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008143365383148193,
+            "max_z_decrease": 0.008143365383148193,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504024867659184,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008143365383148193,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210137927382846,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008143365383148193,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008143437458837825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14774988591670984,
+              -0.4173209071159363,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14774988591670984,
+              -0.4173209071159363,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14726495715651278,
+              -0.41849508707512834,
+              0.8036816247803706
+            ],
+            "closest_button": [
+              0.1477774679660797,
+              -0.41730058193206787,
+              0.7686654925346375
+            ],
+            "closest_ee_minus_button": [
+              -0.0005125108095669351,
+              -0.0011945051430604647,
+              0.03501613224573319
+            ],
+            "button_min_z_position": [
+              0.1477774679660797,
+              -0.41730058193206787,
+              0.7686654925346375
+            ],
+            "min_active_finger_to_button": 0.14607491600508818,
+            "closest_active_finger": [
+              0.006372459232807159,
+              -0.4040129780769348,
+              0.8108285069465637
+            ],
+            "closest_active_finger_button": [
+              0.14775000512599942,
+              -0.41732150316238403,
+              0.7765771746635437
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14137754589319226,
+              0.013308525085449219,
+              0.03425133228302002
+            ],
+            "min_contact_pad_to_button": 0.0210137927382846,
+            "closest_contact_pad": [
+              0.1477774679660797,
+              -0.4195301455888059,
+              0.7895606721497577
+            ],
+            "closest_contact_pad_button": [
+              0.1477774679660797,
+              -0.41730058193206787,
+              0.7686654925346375
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002229563656738043,
+              0.02089517961512022
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db68b8a12bab11657d703abd1ae7180d0c80ee682add5df710edaec686241ed3",
+    "visual_seed": 1233849126931278897,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aff0658d417f16c0f253d1a0c4894c729da2be7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_77_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22228570654185476,
+              -0.04757836677505881,
+              1.1587615960190238
+            ],
+            "current_z": 1.1587615960190238,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3021750886104583,
+            "gripper_z": 1.1523937099915824,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21773201696495748,
+              -0.05223017755335202,
+              1.1523937099915824
+            ],
+            "object_minus_gripper": [
+              0.00455368957689728,
+              0.004651810778293207,
+              0.006367886027441427
+            ],
+            "object_to_gripper_xy": 0.006509641486271558,
+            "object_to_gripper_z": 0.006367886027441427,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22228570654185476,
+              -0.0709294907103979,
+              1.1587615960190238
+            ],
+            "finger_b": [
+              0.21146285890573663,
+              -0.04757836677505881,
+              1.1587615960190238
+            ],
+            "finger_midpoint": [
+              0.2168742827237957,
+              -0.05925392874272836,
+              1.1587615960190238
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054114238180590635,
+              0.01167556196766955,
+              0.0
+            ],
+            "finger_gap": 0.02573730793999625,
+            "fingertip_max_gap": 0.09308427974534894,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012868653969998128,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1587615960190238,
+            "object_top_z": 1.2046129697663508,
+            "finger_top_clearance": 0.04585137374732695,
+            "fingertip_min_top_clearance": 0.013755412124198119,
+            "object_projection_between_fingers": 0.8231696317255054,
+            "object_to_finger_line_xy": 0.009819428553813337,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04904213987267447,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0433293254295184,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 317,
+            "max_stable_success_frames": 317,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29220488637901953,
+              -0.3606684398828852,
+              0.8470197433746569
+            ],
+            "target_position": [
+              0.28366878582120386,
+              -0.3615406877385908,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0085805494611315,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18782230346696624,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197433746569,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523603777126249,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610532939866665,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15647886416957127,
+            "release_required_pad_clearance": 0.05305266469933333,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.13365462561464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007839977741241455,
+            "max_z_decrease": 0.007839977741241455,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512815443534919,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007839977741241455,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210453586171511,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007839977741241455,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007839998215782126,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1393687129020691,
+              -0.4178021550178528,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1393687129020691,
+              -0.4178021550178528,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13783006855188737,
+              -0.4174764903491188,
+              0.8079525729458716
+            ],
+            "closest_button": [
+              0.13935811817646027,
+              -0.41779959201812744,
+              0.7728591561317444
+            ],
+            "closest_ee_minus_button": [
+              -0.001528049624572897,
+              0.0003231016690086186,
+              0.035093416814127254
+            ],
+            "button_min_z_position": [
+              0.13935111463069916,
+              -0.417798787355423,
+              0.7689688801765442
+            ],
+            "min_active_finger_to_button": 0.14735752317578493,
+            "closest_active_finger": [
+              0.011563405394554138,
+              -0.48264363408088684,
+              0.8106930255889893
+            ],
+            "closest_active_finger_button": [
+              0.13936875760555267,
+              -0.41780230402946467,
+              0.7764055132865906
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12780535221099854,
+              -0.06484133005142217,
+              0.03428751230239868
+            ],
+            "min_contact_pad_to_button": 0.0210453586171511,
+            "closest_contact_pad": [
+              0.13935111463069916,
+              -0.41836260839559736,
+              0.7900066848424107
+            ],
+            "closest_contact_pad_button": [
+              0.13935111463069916,
+              -0.417798787355423,
+              0.7689688801765442
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005638210401743837,
+              0.021037804665866466
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c463d9e147d46c6b9f6966aa304d9d496b0e7fe60183af4e4ac4824bdcb0f93",
+    "visual_seed": 6461930122319268675,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a469ca2f2f746ed49a49d87abdbc7bff12d7002a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_78_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22669026000179396,
+              -0.046189571564944416,
+              1.162115991494475
+            ],
+            "current_z": 1.162115991494475,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3055294840859094,
+            "gripper_z": 1.155414996959389,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22221975860318322,
+              -0.05082694221911575,
+              1.155414996959389
+            ],
+            "object_minus_gripper": [
+              0.004470501398610743,
+              0.004637370654171337,
+              0.006700994535085991
+            ],
+            "object_to_gripper_xy": 0.006441318913013864,
+            "object_to_gripper_z": 0.006700994535085991,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22669026000179396,
+              -0.06949448499659562,
+              1.162115991494475
+            ],
+            "finger_b": [
+              0.21594088695219066,
+              -0.046189571564944416,
+              1.162115991494475
+            ],
+            "finger_midpoint": [
+              0.22131557347699232,
+              -0.05784202828077002,
+              1.162115991494475
+            ],
+            "object_minus_finger_midpoint": [
+              0.005374686524801636,
+              0.011652456715825606,
+              0.0
+            ],
+            "finger_gap": 0.025664528264051426,
+            "fingertip_max_gap": 0.0926624872923563,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01283226413202571,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162115991494475,
+            "object_top_z": 1.2080558113782702,
+            "finger_top_clearance": 0.04593981988379525,
+            "fingertip_min_top_clearance": 0.013781945965138575,
+            "object_projection_between_fingers": 0.8245716825062585,
+            "object_to_finger_line_xy": 0.009761068108796147,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883124364617815,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.509889038098557,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2949550799627687,
+              -0.3636824568516418,
+              0.8470195954272527
+            ],
+            "target_position": [
+              0.28784430865590815,
+              -0.3645090146544774,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007158649759549612,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1877783343979431,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195954272527,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577501893385641,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854480758270033,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15516904836668396,
+            "release_required_pad_clearance": 0.05272403791350165,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5004583589185224,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008158266544342041,
+            "max_z_decrease": 0.008158266544342041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505391545256063,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008158266544342041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020905171317504988,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008158266544342041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008158339306130857,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14354424178600309,
+              -0.4207704663276672,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14354424178600309,
+              -0.4207704663276672,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14480165734186956,
+              -0.4198572939971305,
+              0.8036715344813864
+            ],
+            "closest_button": [
+              0.14356841146945953,
+              -0.4207459092140197,
+              0.7686505913734436
+            ],
+            "closest_ee_minus_button": [
+              0.001233245872410027,
+              0.0008886152168892103,
+              0.03502094310794279
+            ],
+            "button_min_z_position": [
+              0.14356841146945953,
+              -0.4207459092140197,
+              0.7686505913734436
+            ],
+            "min_active_finger_to_button": 0.14431147671451028,
+            "closest_active_finger": [
+              0.018947243690490723,
+              -0.48503321409225464,
+              0.8108944296836853
+            ],
+            "closest_active_finger_button": [
+              0.14354546368122098,
+              -0.42076933383941645,
+              0.7766710519790649
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12459821999073026,
+              -0.06426388025283819,
+              0.03422337770462036
+            ],
+            "min_contact_pad_to_button": 0.020905171317504988,
+            "closest_contact_pad": [
+              0.14356841146945953,
+              -0.42082347612993537,
+              0.7895556187876277
+            ],
+            "closest_contact_pad_button": [
+              0.14356841146945953,
+              -0.4207459092140197,
+              0.7686505913734436
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.756691591565001e-05,
+              0.020905027414184096
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "92c07073a5a471388b06d8152be28dbc146aee00c2b648d29dfe37725defe2c5",
+    "visual_seed": 6335556457074421681,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85eb758806406c52a51c4b3ef5aa986bb5cdb1d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_79_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2218390571362914,
+              -0.05434159917149698,
+              1.1585580367506192
+            ],
+            "current_z": 1.1585580367506192,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3019715889466984,
+            "gripper_z": 1.151934151798359,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21735469250525538,
+              -0.05902890054213002,
+              1.151934151798359
+            ],
+            "object_minus_gripper": [
+              0.00448436463103602,
+              0.004687301370633036,
+              0.006623884952260184
+            ],
+            "object_to_gripper_xy": 0.00648693458293092,
+            "object_to_gripper_z": 0.006623884952260184,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2218390571362914,
+              -0.07768747273081016,
+              1.1585580367506192
+            ],
+            "finger_b": [
+              0.21091071154017454,
+              -0.05434159917149698,
+              1.1585580367506192
+            ],
+            "finger_midpoint": [
+              0.216374884338233,
+              -0.06601453595115357,
+              1.1585580367506192
+            ],
+            "object_minus_finger_midpoint": [
+              0.005464172798058414,
+              0.011672936779656591,
+              0.0
+            ],
+            "finger_gap": 0.025777093507911335,
+            "fingertip_max_gap": 0.09219277735708989,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012888546753955666,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1585580367506192,
+            "object_top_z": 1.204183447081024,
+            "finger_top_clearance": 0.04562541033040479,
+            "fingertip_min_top_clearance": 0.013687623099121438,
+            "object_projection_between_fingers": 0.8202615685819931,
+            "object_to_finger_line_xy": 0.009897616052838447,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859638867854495,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4932696303102426,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 305,
+            "max_stable_success_frames": 305,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2946056387765531,
+              -0.3604137168315789,
+              0.8470195831536035
+            ],
+            "target_position": [
+              0.28813299089340855,
+              -0.3606638401778685,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064774788542715294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1839203413448834,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195831536035,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563640754906667,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579518520058736,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15165829924865326,
+            "release_required_pad_clearance": 0.05289759260029368,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8346196632664867,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008063197135925293,
+            "max_z_decrease": 0.008063197135925293,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516176960089392,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008063197135925293,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021163661607268965,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008063197135925293,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008063204915760652,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14383292198181152,
+              -0.41692531108856196,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14383292198181152,
+              -0.41692531108856196,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14374819929501811,
+              -0.4182729989180426,
+              0.8038811506299016
+            ],
+            "closest_button": [
+              0.14382658898830414,
+              -0.4169160723686217,
+              0.7687456607818604
+            ],
+            "closest_ee_minus_button": [
+              -7.838969328602396e-05,
+              -0.0013569265494208782,
+              0.03513548984804127
+            ],
+            "button_min_z_position": [
+              0.14382658898830414,
+              -0.4169160723686217,
+              0.7687456607818604
+            ],
+            "min_active_finger_to_button": 0.1455838650832464,
+            "closest_active_finger": [
+              0.003297150135040283,
+              -0.4003329277038574,
+              0.8109716176986694
+            ],
+            "closest_active_finger_button": [
+              0.14383514225482938,
+              -0.41692522168159474,
+              0.7767893075942993
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1405379921197891,
+              0.016592293977737316,
+              0.03418231010437012
+            ],
+            "min_contact_pad_to_button": 0.021163661607268965,
+            "closest_contact_pad": [
+              0.14382658898830414,
+              -0.4196146494144494,
+              0.7897365696367604
+            ],
+            "closest_contact_pad_button": [
+              0.14382658898830414,
+              -0.4169160723686217,
+              0.7687456607818604
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026985770458277103,
+              0.02099090885490007
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "759ad6a22b1ec73b3ed901e5af7378f157736e69a0dcdb1bb09b866a33559cdf",
+    "visual_seed": 8112975296379415090,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a14c52939494c8b93f09d64d95f9ec8aa94209f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_7_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22995455018235497,
+              -0.04789289498426448,
+              1.1600925032595018
+            ],
+            "current_z": 1.1600925032595018,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30350605545558096,
+            "gripper_z": 1.1536199734964343,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22513706622697222,
+              -0.05253042674114991,
+              1.1536199734964343
+            ],
+            "object_minus_gripper": [
+              0.004817483955382756,
+              0.00463753175688543,
+              0.006472529763067447
+            ],
+            "object_to_gripper_xy": 0.006686916513348372,
+            "object_to_gripper_z": 0.006472529763067447,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22995455018235497,
+              -0.07169582182818994,
+              1.1600925032595018
+            ],
+            "finger_b": [
+              0.21951201030010475,
+              -0.04789289498426448,
+              1.1600925032595018
+            ],
+            "finger_midpoint": [
+              0.22473328024122985,
+              -0.05979435840622721,
+              1.1600925032595018
+            ],
+            "object_minus_finger_midpoint": [
+              0.005221269941125123,
+              0.01190146342196273,
+              0.0
+            ],
+            "finger_gap": 0.025992806034163637,
+            "fingertip_max_gap": 0.09234373825427497,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012996403017081824,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1600925032595018,
+            "object_top_z": 1.2060724643139995,
+            "finger_top_clearance": 0.04597996105449775,
+            "fingertip_min_top_clearance": 0.013793988316349325,
+            "object_projection_between_fingers": 0.8385990995670217,
+            "object_to_finger_line_xy": 0.009562761810143816,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867186912713749,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2625397728589856,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2972650925363154,
+              -0.3625158792212348,
+              0.8470195654775727
+            ],
+            "target_position": [
+              0.2884684493057924,
+              -0.3639702119167137,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008916053819613514,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18769572482971228,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195654775727,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559532165463054,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710180952500889,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15563519438856538,
+            "release_required_pad_clearance": 0.053550904762504445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.112946932022718,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008080065250396729,
+            "max_z_decrease": 0.008080065250396729,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035155264431747206,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008080065250396729,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020988111058494074,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008080065250396729,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008080073927429435,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14416837692260742,
+              -0.4202316701412201,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14416837692260742,
+              -0.4202316701412201,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14427454034890008,
+              -0.4188602814960781,
+              0.8080287383254205
+            ],
+            "closest_button": [
+              0.14415657520294187,
+              -0.42023247480392456,
+              0.7729004621505737
+            ],
+            "closest_ee_minus_button": [
+              0.00011796514595821539,
+              0.0013721933078464366,
+              0.03512827617484682
+            ],
+            "button_min_z_position": [
+              0.14417064189910886,
+              -0.4202200472354889,
+              0.7687287926673889
+            ],
+            "min_active_finger_to_button": 0.14545113232060208,
+            "closest_active_finger": [
+              0.016996704041957855,
+              -0.4820096790790558,
+              0.8109703660011292
+            ],
+            "closest_active_finger_button": [
+              0.14416725933551783,
+              -0.42023229598999023,
+              0.7768055200576782
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12717055529355997,
+              -0.06177738308906555,
+              0.03416484594345093
+            ],
+            "min_contact_pad_to_button": 0.020988111058494074,
+            "closest_contact_pad": [
+              0.14417064189910886,
+              -0.4202200472354889,
+              0.789716903725883
+            ],
+            "closest_contact_pad_button": [
+              0.14417064189910886,
+              -0.4202200472354889,
+              0.7687287926673889
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020988111058494074
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f6f4dc0038530e0b9755afe3da0930d4b3bb37cbe19d3ff755ac23f858d636b9",
+    "visual_seed": 9196982292726164189,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5063650a34f3aa98e00caeb3015a017d0f6463
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_80_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22879336854918544,
+              -0.056264367861173156,
+              1.1589679047554846
+            ],
+            "current_z": 1.1589679047554846,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.3023815165562086,
+            "gripper_z": 1.1524237003639206,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2240352747671225,
+              -0.06087448994053404,
+              1.1524237003639206
+            ],
+            "object_minus_gripper": [
+              0.004758093782062933,
+              0.004610122079360887,
+              0.006544204391564001
+            ],
+            "object_to_gripper_xy": 0.006625155245389854,
+            "object_to_gripper_z": 0.006544204391564001,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22879336854918544,
+              -0.07995166138255311,
+              1.1589679047554846
+            ],
+            "finger_b": [
+              0.21831470738084066,
+              -0.056264367861173156,
+              1.1589679047554846
+            ],
+            "finger_midpoint": [
+              0.22355403796501305,
+              -0.06810801462186314,
+              1.1589679047554846
+            ],
+            "object_minus_finger_midpoint": [
+              0.005239330584172391,
+              0.011843646760689983,
+              0.0
+            ],
+            "finger_gap": 0.025901548491335136,
+            "fingertip_max_gap": 0.09272288948275217,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012950774245667575,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1589679047554846,
+            "object_top_z": 1.2049371974909437,
+            "finger_top_clearance": 0.04596929273545913,
+            "fingertip_min_top_clearance": 0.013790787820637774,
+            "object_projection_between_fingers": 0.8363333708721733,
+            "object_to_finger_line_xy": 0.009582868101059789,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886144474137609,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5432077163390758,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2967938888941748,
+              -0.35885988670846775,
+              0.8470184793098836
+            ],
+            "target_position": [
+              0.28879513620007063,
+              -0.3598212907112031,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008056323126458754,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1875196959823415,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470184793098836,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529374287837201,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617970754774416,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15609566921078352,
+            "release_required_pad_clearance": 0.053089853773872084,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2013578686882904,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008068561553955078,
+            "max_z_decrease": 0.008068561553955078,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516793716141178,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008068561553955078,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02103982019242699,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008068561553955078,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008068570848695975,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14449505507946012,
+              -0.41608273983001703,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14449505507946012,
+              -0.41608273983001703,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14596402232568675,
+              -0.4161769866398697,
+              0.8038771408938316
+            ],
+            "closest_button": [
+              0.14448925852775574,
+              -0.41607195138931274,
+              0.7687402963638306
+            ],
+            "closest_ee_minus_button": [
+              0.0014747637979310169,
+              -0.00010503525055693963,
+              0.03513684453000099
+            ],
+            "button_min_z_position": [
+              0.14448925852775574,
+              -0.41607195138931274,
+              0.7687402963638306
+            ],
+            "min_active_finger_to_button": 0.14428414018779487,
+            "closest_active_finger": [
+              0.005070164799690247,
+              -0.4017779231071472,
+              0.810487687587738
+            ],
+            "closest_active_finger_button": [
+              0.14449414610862732,
+              -0.4160829782485962,
+              0.7762206196784973
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13942398130893707,
+              0.014305055141448975,
+              0.03426706790924072
+            ],
+            "min_contact_pad_to_button": 0.02103982019242699,
+            "closest_contact_pad": [
+              0.14448925852775574,
+              -0.41720396199946613,
+              0.789749641563245
+            ],
+            "closest_contact_pad_button": [
+              0.14448925852775574,
+              -0.41607195138931274,
+              0.7687402963638306
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011320106101533889,
+              0.021009345199414442
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52a5b298f7e4ff7affbb93ca69ace4f172ad54ecd134380005f0932a8042b3e2",
+    "visual_seed": 2285589639052872782,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..237a7fd7b1092e1736489d901ebc605be1016c82
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_81_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2309881948315869,
+              -0.04626523090541084,
+              1.1589382412986649
+            ],
+            "current_z": 1.1589382412986649,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3023517338900993,
+            "gripper_z": 1.1522002647493745,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22644295872004647,
+              -0.05081269616136688,
+              1.1522002647493745
+            ],
+            "object_minus_gripper": [
+              0.004545236111540424,
+              0.004547465255956042,
+              0.006737976549290314
+            ],
+            "object_to_gripper_xy": 0.006429510989474896,
+            "object_to_gripper_z": 0.006737976549290314,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2309881948315869,
+              -0.0697747533930985,
+              1.1589382412986649
+            ],
+            "finger_b": [
+              0.2205375755502525,
+              -0.04626523090541084,
+              1.1589382412986649
+            ],
+            "finger_midpoint": [
+              0.2257628851909197,
+              -0.05801999214925467,
+              1.1589382412986649
+            ],
+            "object_minus_finger_midpoint": [
+              0.005225309640667197,
+              0.01175476124384383,
+              0.0
+            ],
+            "finger_gap": 0.025727671697269645,
+            "fingertip_max_gap": 0.09228934492946661,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012863835848634826,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1589382412986649,
+            "object_top_z": 1.2048530319160538,
+            "finger_top_clearance": 0.0459147906173889,
+            "fingertip_min_top_clearance": 0.01377443718521667,
+            "object_projection_between_fingers": 0.8350003273019004,
+            "object_to_finger_line_xy": 0.009549603706691688,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864467246473331,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2461941394970673,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29352807022916855,
+              -0.3614237402058703,
+              0.8470194482029868
+            ],
+            "target_position": [
+              0.28645118278570036,
+              -0.36200884166505604,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007101033699755191,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18573660265021372,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194482029868,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531455277923024,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531494474175692,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15428628071798228,
+            "release_required_pad_clearance": 0.052657472370878464,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37325262717388547,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007877230644226074,
+            "max_z_decrease": 0.007877230644226074,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516402255925693,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007877230644226074,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021037643293468244,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007877230644226074,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007877257304538745,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1421511024236679,
+              -0.4182702898979187,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1421511024236679,
+              -0.4182702898979187,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1419658048463412,
+              -0.4169146413828262,
+              0.8081854564654175
+            ],
+            "closest_button": [
+              0.14213983714580536,
+              -0.4182727932929992,
+              0.7730481028556824
+            ],
+            "closest_ee_minus_button": [
+              -0.00017403229946416632,
+              0.0013581519101730222,
+              0.035137353609735134
+            ],
+            "button_min_z_position": [
+              0.14213065803050995,
+              -0.41826885938644404,
+              0.7689316272735596
+            ],
+            "min_active_finger_to_button": 0.14572379468244404,
+            "closest_active_finger": [
+              0.01367952674627304,
+              -0.47798746824264526,
+              0.8104860186576843
+            ],
+            "closest_active_finger_button": [
+              0.1421503722667694,
+              -0.4182709455490112,
+              0.7763597369194031
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12847084552049637,
+              -0.05971652269363409,
+              0.03412628173828125
+            ],
+            "min_contact_pad_to_button": 0.021037643293468244,
+            "closest_contact_pad": [
+              0.14213065803050995,
+              -0.41826885938644404,
+              0.7899692705670278
+            ],
+            "closest_contact_pad_button": [
+              0.14213065803050995,
+              -0.41826885938644404,
+              0.7689316272735596
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021037643293468244
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f7f8dc9f7cad6f17e60fbd7ae0b7a14ed9e2ae829fde2b9f4dd59da3a6e90031",
+    "visual_seed": 2070177053588120270,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..897a0f8ba76e5786c97addddc342954b81f15df6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_82_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22288695957299673,
+              -0.0546798053454478,
+              1.1616562219975655
+            ],
+            "current_z": 1.1616562219975655,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30506977419364467,
+            "gripper_z": 1.1549686439817892,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21832933237968366,
+              -0.059164051559697145,
+              1.1549686439817892
+            ],
+            "object_minus_gripper": [
+              0.0045576271933130685,
+              0.004484246214249345,
+              0.006687578015776241
+            ],
+            "object_to_gripper_xy": 0.006393780551695244,
+            "object_to_gripper_z": 0.006687578015776241,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22288695957299673,
+              -0.07827737365550207,
+              1.1616562219975655
+            ],
+            "finger_b": [
+              0.21265655467538158,
+              -0.0546798053454478,
+              1.1616562219975655
+            ],
+            "finger_midpoint": [
+              0.21777175712418917,
+              -0.06647858950047493,
+              1.1616562219975655
+            ],
+            "object_minus_finger_midpoint": [
+              0.00511520244880756,
+              0.01179878415502713,
+              0.0
+            ],
+            "finger_gap": 0.025719766999660502,
+            "fingertip_max_gap": 0.09244492360328282,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012859883499830242,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1616562219975655,
+            "object_top_z": 1.2076183149508684,
+            "finger_top_clearance": 0.04596209295330289,
+            "fingertip_min_top_clearance": 0.013788627885990867,
+            "object_projection_between_fingers": 0.8417835684245115,
+            "object_to_finger_line_xy": 0.009386270039467065,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048722461801641415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3289835560581311,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29039834666792985,
+              -0.36599033213697785,
+              0.8470194345815236
+            ],
+            "target_position": [
+              0.28360079073663663,
+              -0.36632638255424615,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006805857515552749,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18661926469399384,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194345815236,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534495386370711,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651964178273651,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551354592790187,
+            "release_required_pad_clearance": 0.053259820891368256,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5389708124346282,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007977604866027832,
+            "max_z_decrease": 0.007977604866027832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035184231658928096,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007977604866027832,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021038933385532643,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007977604866027832,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007977626392644528,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13930071890354156,
+              -0.4225878417491913,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13930071890354156,
+              -0.4225878417491913,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13877661845069636,
+              -0.42073247071057734,
+              0.8081113628342005
+            ],
+            "closest_button": [
+              0.1392897218465805,
+              -0.42258942127227783,
+              0.7729799151420593
+            ],
+            "closest_ee_minus_button": [
+              -0.0005131033958841458,
+              0.0018569505617004878,
+              0.03513144769214116
+            ],
+            "button_min_z_position": [
+              0.1392822414636612,
+              -0.4225864112377167,
+              0.7688312530517578
+            ],
+            "min_active_finger_to_button": 0.1458242497339098,
+            "closest_active_finger": [
+              0.010563693940639496,
+              -0.4819628894329071,
+              0.8104298114776611
+            ],
+            "closest_active_finger_button": [
+              0.13929998874664307,
+              -0.42258796095848083,
+              0.7762787342071533
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12873629480600357,
+              -0.05937492847442627,
+              0.03415107727050781
+            ],
+            "min_contact_pad_to_button": 0.021038933385532643,
+            "closest_contact_pad": [
+              0.1392822414636612,
+              -0.4225864112377167,
+              0.7898701864372905
+            ],
+            "closest_contact_pad_button": [
+              0.1392822414636612,
+              -0.4225864112377167,
+              0.7688312530517578
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021038933385532643
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f6ea18d2808907c5cfad943b0001145b5f6f9e78dcc6dc517b4324835916df1",
+    "visual_seed": 6054687639396247985,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a082573cd2741d2b5e42b2a0d9cd0cc02e8d386
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_83_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22388395589638746,
+              -0.04840195556487189,
+              1.1609939780863798
+            ],
+            "current_z": 1.1609939780863798,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30440747067781426,
+            "gripper_z": 1.1544238455013918,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2194590963587133,
+              -0.05298113496482053,
+              1.1544238455013918
+            ],
+            "object_minus_gripper": [
+              0.004424859537674158,
+              0.004579179399948639,
+              0.006570132584988064
+            ],
+            "object_to_gripper_xy": 0.006367752029174813,
+            "object_to_gripper_z": 0.006570132584988064,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22388395589638746,
+              -0.07172369842318024,
+              1.1609939780863798
+            ],
+            "finger_b": [
+              0.2132615555162317,
+              -0.04840195556487189,
+              1.1609939780863798
+            ],
+            "finger_midpoint": [
+              0.21857275570630957,
+              -0.06006282699402607,
+              1.1609939780863798
+            ],
+            "object_minus_finger_midpoint": [
+              0.005311200190077886,
+              0.01166087142915418,
+              0.0
+            ],
+            "finger_gap": 0.025626920996978747,
+            "fingertip_max_gap": 0.09291088936152894,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012813460498489377,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1609939780863798,
+            "object_top_z": 1.2068730436999,
+            "finger_top_clearance": 0.045879065613520176,
+            "fingertip_min_top_clearance": 0.013763719684056052,
+            "object_projection_between_fingers": 0.8281884034170679,
+            "object_to_finger_line_xy": 0.009666900297277074,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895544468076447,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8355078450603992,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2949354656326636,
+              -0.3632862789321365,
+              0.8470199348845877
+            ],
+            "target_position": [
+              0.288976727715688,
+              -0.36327229620411466,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005958754322833391,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18675535447854724,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199348845877,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528153250980665,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862376371791189,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15525254894357501,
+            "release_required_pad_clearance": 0.053118818589559455,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2623609257104413,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008162498474121094,
+            "max_z_decrease": 0.008162498474121094,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506759936140159,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008162498474121094,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02090957494983285,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008162498474121094,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00816257885996715,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14467665553092957,
+              -0.41953375935554504,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14467665553092957,
+              -0.41953375935554504,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14636426156782448,
+              -0.41906610622708734,
+              0.8036717848728931
+            ],
+            "closest_button": [
+              0.14470289647579193,
+              -0.4195087850093841,
+              0.7686463594436646
+            ],
+            "closest_ee_minus_button": [
+              0.0016613650920325462,
+              0.00044267878229675706,
+              0.035025425429228596
+            ],
+            "button_min_z_position": [
+              0.14470289647579193,
+              -0.4195087850093841,
+              0.7686463594436646
+            ],
+            "min_active_finger_to_button": 0.14410763376009467,
+            "closest_active_finger": [
+              0.02013467252254486,
+              -0.48346567153930664,
+              0.8108407258987427
+            ],
+            "closest_active_finger_button": [
+              0.14467743039131162,
+              -0.419533371925354,
+              0.7766534090042114
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12454275786876676,
+              -0.06393229961395264,
+              0.03418731689453125
+            ],
+            "min_contact_pad_to_button": 0.02090957494983285,
+            "closest_contact_pad": [
+              0.14470289647579193,
+              -0.42010712818648505,
+              0.7895473716207122
+            ],
+            "closest_contact_pad_button": [
+              0.14470289647579193,
+              -0.4195087850093841,
+              0.7686463594436646
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005983431771009462,
+              0.02090101217704765
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b0bd498a6f11e7a92f25add859801cd0c3e2010721b933a6849d808c5be4a43",
+    "visual_seed": 2426358643746633779,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcad8c9b3d71d26cc90cca7099aa32a2e2e6ead2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_84_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22245034323032958,
+              -0.04911227732570904,
+              1.1596435104447924
+            ],
+            "current_z": 1.1596435104447924,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3030570626408716,
+            "gripper_z": 1.1532264593454404,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.217937373041308,
+              -0.053782324317450586,
+              1.1532264593454404
+            ],
+            "object_minus_gripper": [
+              0.004512970189021581,
+              0.004670046991741547,
+              0.006417051099351978
+            ],
+            "object_to_gripper_xy": 0.006494323585414555,
+            "object_to_gripper_z": 0.006417051099351978,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22245034323032958,
+              -0.07240988055965966,
+              1.1596435104447924
+            ],
+            "finger_b": [
+              0.21153623635674496,
+              -0.04911227732570904,
+              1.1596435104447924
+            ],
+            "finger_midpoint": [
+              0.21699328979353727,
+              -0.06076107894268435,
+              1.1596435104447924
+            ],
+            "object_minus_finger_midpoint": [
+              0.005457053436792314,
+              0.011648801616975311,
+              0.0
+            ],
+            "finger_gap": 0.025727340424043326,
+            "fingertip_max_gap": 0.09280291739147736,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012863670212021663,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1596435104447924,
+            "object_top_z": 1.205428235641223,
+            "finger_top_clearance": 0.04578472519643051,
+            "fingertip_min_top_clearance": 0.013735417558929186,
+            "object_projection_between_fingers": 0.8200355936633414,
+            "object_to_finger_line_xy": 0.009883358613938931,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048901458695738684,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8356262383157025,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 314,
+            "max_stable_success_frames": 314,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2928439739767504,
+              -0.36305834659878744,
+              0.8470201165163624
+            ],
+            "target_position": [
+              0.285541508215907,
+              -0.3638857755297073,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007349193481193219,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1872464547256256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201165163624,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557275136894437,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512656199862943,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551266826201822,
+            "release_required_pad_clearance": 0.05256328099931472,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1897316143903124,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007912039756774902,
+            "max_z_decrease": 0.007912039756774902,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514852575785255,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007912039756774902,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021032679629588612,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007912039756774902,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00791206110569998,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14124143123626703,
+              -0.4201472401618958,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14124143123626703,
+              -0.4201472401618958,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1396206087218504,
+              -0.41921695880167453,
+              0.8081737845578171
+            ],
+            "closest_button": [
+              0.14123563468456263,
+              -0.4201464056968689,
+              0.7730746865272522
+            ],
+            "closest_ee_minus_button": [
+              -0.0016150259627122354,
+              0.0009294468951943635,
+              0.03509909803056488
+            ],
+            "button_min_z_position": [
+              0.14122349023818964,
+              -0.4201432466506958,
+              0.7688968181610107
+            ],
+            "min_active_finger_to_button": 0.14717268367000508,
+            "closest_active_finger": [
+              0.013293258845806122,
+              -0.4842964708805084,
+              0.8106639385223389
+            ],
+            "closest_active_finger_button": [
+              0.14124093949794764,
+              -0.4201474189758301,
+              0.7763989567756653
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12794768065214152,
+              -0.06414905190467834,
+              0.034264981746673584
+            ],
+            "min_contact_pad_to_button": 0.021032679629588612,
+            "closest_contact_pad": [
+              0.14122349023818964,
+              -0.42015474287335297,
+              0.7899294946487471
+            ],
+            "closest_contact_pad_button": [
+              0.14122349023818964,
+              -0.4201432466506958,
+              0.7688968181610107
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -1.1496222657170208e-05,
+              0.021032676487736324
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9d39ac02ab62e9d0de8fbdaf40e3935a3e0453b03fd2b34e9e5e026a06499b5",
+    "visual_seed": 8582371027499337864,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6292e891239690229d95998268e89614e03b3348
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_85_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2304309702821219,
+              -0.050672993791863054,
+              1.1586899162426945
+            ],
+            "current_z": 1.1586899162426945,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.302103349229484,
+            "gripper_z": 1.152023410104686,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22586197091037497,
+              -0.05517409459300096,
+              1.152023410104686
+            ],
+            "object_minus_gripper": [
+              0.004568999371746929,
+              0.004501100801137907,
+              0.0066665061380084545
+            ],
+            "object_to_gripper_xy": 0.00641370904243622,
+            "object_to_gripper_z": 0.0066665061380084545,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2304309702821219,
+              -0.07434611318065325,
+              1.1586899162426945
+            ],
+            "finger_b": [
+              0.22022783662586773,
+              -0.050672993791863054,
+              1.1586899162426945
+            ],
+            "finger_midpoint": [
+              0.22532940345399483,
+              -0.06250955348625815,
+              1.1586899162426945
+            ],
+            "object_minus_finger_midpoint": [
+              0.005101566828127069,
+              0.0118365596943951,
+              0.0
+            ],
+            "finger_gap": 0.025778295482892205,
+            "fingertip_max_gap": 0.09224799201510958,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0128891477414461,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1586899162426945,
+            "object_top_z": 1.2045842502544497,
+            "finger_top_clearance": 0.045894334011755245,
+            "fingertip_min_top_clearance": 0.013768300203526573,
+            "object_projection_between_fingers": 0.8433397711778865,
+            "object_to_finger_line_xy": 0.009369898073539688,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862399600755479,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1788506806866579,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2967303750249838,
+              -0.3577803181869029,
+              0.8470195481773212
+            ],
+            "target_position": [
+              0.28885641176334065,
+              -0.3588326840493799,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00794397704894801,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18986139612532577,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195481773212,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576265975327402,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08790009394367936,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15731798448800635,
+            "release_required_pad_clearance": 0.05395004697183968,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9098984483854,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008040130138397217,
+            "max_z_decrease": 0.008040130138397217,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522148244403142,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008040130138397217,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021040183685623024,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008040130138397217,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00804014541465236,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1445563435554504,
+              -0.4150941371917724,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1445563435554504,
+              -0.4150941371917724,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14669384167903757,
+              -0.41426268002621497,
+              0.8080425128074782
+            ],
+            "closest_button": [
+              0.1445448398590088,
+              -0.415098488330841,
+              0.7728965878486633
+            ],
+            "closest_ee_minus_button": [
+              0.0021490018200287786,
+              0.0008358083046260401,
+              0.035145924958814856
+            ],
+            "button_min_z_position": [
+              0.14454095065593714,
+              -0.415091186761856,
+              0.7687687277793884
+            ],
+            "min_active_finger_to_button": 0.14389128748603813,
+            "closest_active_finger": [
+              0.018512524664402008,
+              -0.475545197725296,
+              0.8109098672866821
+            ],
+            "closest_active_finger_button": [
+              0.1445549130439758,
+              -0.4150959849357604,
+              0.7767937183380127
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260423883795738,
+              -0.060449212789535633,
+              0.034116148948669434
+            ],
+            "min_contact_pad_to_button": 0.021040183685623024,
+            "closest_contact_pad": [
+              0.14454095065593714,
+              -0.4155127592517249,
+              0.7898046876139323
+            ],
+            "closest_contact_pad_button": [
+              0.14454095065593714,
+              -0.415091186761856,
+              0.7687687277793884
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004215724898688489,
+              0.02103595983454387
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f2cf3e43450d37829c6f2677b528b7325812ca8fe0db63aa7d21481252cb2dc",
+    "visual_seed": 963249866758670839,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0fcd421a3c05504944df2905311445a50f81ff3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_86_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22334135054646068,
+              -0.048756234105758946,
+              1.1598380792338103
+            ],
+            "current_z": 1.1598380792338103,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30325163142988953,
+            "gripper_z": 1.153226289443975,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21871731180762738,
+              -0.05323130929060085,
+              1.153226289443975
+            ],
+            "object_minus_gripper": [
+              0.004624038738833297,
+              0.004475075184841908,
+              0.006611789789835232
+            ],
+            "object_to_gripper_xy": 0.006434907316210456,
+            "object_to_gripper_z": 0.006611789789835232,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22334135054646068,
+              -0.07246723917389405,
+              1.1598380792338103
+            ],
+            "finger_b": [
+              0.2132194745806229,
+              -0.048756234105758946,
+              1.1598380792338103
+            ],
+            "finger_midpoint": [
+              0.2182804125635418,
+              -0.0606117366398265,
+              1.1598380792338103
+            ],
+            "object_minus_finger_midpoint": [
+              0.005060937982918873,
+              0.011855502534067551,
+              0.0
+            ],
+            "finger_gap": 0.02578108093949773,
+            "fingertip_max_gap": 0.09243209569801583,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012890540469748857,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1598380792338103,
+            "object_top_z": 1.2058577575240361,
+            "finger_top_clearance": 0.046019678290225796,
+            "fingertip_min_top_clearance": 0.013805903487067738,
+            "object_projection_between_fingers": 0.845858430199619,
+            "object_to_finger_line_xy": 0.009309146225801724,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871604784900792,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2527634836783788,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.291832617181882,
+              -0.3603709320652192,
+              0.8470195826708119
+            ],
+            "target_position": [
+              0.28301145516976806,
+              -0.3614950357216338,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00889249730246387,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18755010146357395,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195826708119,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533743167753242,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586959237250956,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15596873454752055,
+            "release_required_pad_clearance": 0.05293479618625478,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9065430558867468,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00807124376296997,
+            "max_z_decrease": 0.00807124376296997,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514804453149355,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00807124376296997,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02101590390913255,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00807124376296997,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008071251219984598,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13871137797832483,
+              -0.4177564978599549,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13871137797832483,
+              -0.4177564978599549,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13812163768790908,
+              -0.41612330437404815,
+              0.8078224600637153
+            ],
+            "closest_button": [
+              0.1387053877115249,
+              -0.4177540242671967,
+              0.7727171182632446
+            ],
+            "closest_ee_minus_button": [
+              -0.0005837500236158255,
+              0.0016307198931485578,
+              0.035105341800470646
+            ],
+            "button_min_z_position": [
+              0.1387105137109756,
+              -0.41774556040763855,
+              0.7687376141548157
+            ],
+            "min_active_finger_to_button": 0.14597530736995812,
+            "closest_active_finger": [
+              0.011814571917057037,
+              -0.48123759031295776,
+              0.8108513355255127
+            ],
+            "closest_active_finger_button": [
+              0.13871134817600245,
+              -0.41775578260421753,
+              0.7765576243400574
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1268967762589454,
+              -0.06348180770874023,
+              0.03429371118545532
+            ],
+            "min_contact_pad_to_button": 0.02101590390913255,
+            "closest_contact_pad": [
+              0.1387105137109756,
+              -0.41774556040763855,
+              0.7897535180639482
+            ],
+            "closest_contact_pad_button": [
+              0.1387105137109756,
+              -0.41774556040763855,
+              0.7687376141548157
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02101590390913255
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f8fba7485970a6e88f75ad2dbac26e1a4f343a570dc2bf79705cf551b77905c",
+    "visual_seed": 4270130051305745797,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fc5cbc62960e2c5601d971011405e1fd3a789f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_87_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22088278869032024,
+              -0.04993937047896086,
+              1.1583639337509826
+            ],
+            "current_z": 1.1583639337509826,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3017773667377722,
+            "gripper_z": 1.1521343474232508,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21618576180041324,
+              -0.05466504244226199,
+              1.1521343474232508
+            ],
+            "object_minus_gripper": [
+              0.004697026889907002,
+              0.004725671963301127,
+              0.00622958632773174
+            ],
+            "object_to_gripper_xy": 0.006662885043976053,
+            "object_to_gripper_z": 0.00622958632773174,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22088278869032024,
+              -0.07340442149262857,
+              1.1583639337509826
+            ],
+            "finger_b": [
+              0.20993909389019558,
+              -0.04993937047896086,
+              1.1583639337509826
+            ],
+            "finger_midpoint": [
+              0.2154109412902579,
+              -0.061671895985794714,
+              1.1583639337509826
+            ],
+            "object_minus_finger_midpoint": [
+              0.005471847400062346,
+              0.011732525506833853,
+              0.0
+            ],
+            "finger_gap": 0.02589156377958473,
+            "fingertip_max_gap": 0.09276119302673158,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012945781889792366,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583639337509826,
+            "object_top_z": 1.2041613032477598,
+            "finger_top_clearance": 0.04579736949677726,
+            "fingertip_min_top_clearance": 0.013739210849033146,
+            "object_projection_between_fingers": 0.821346560067621,
+            "object_to_finger_line_xy": 0.009918070571133891,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04888059651336579,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8587013120532117,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 312,
+            "max_stable_success_frames": 312,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29049213658968603,
+              -0.3622459855466631,
+              0.8470198080310183
+            ],
+            "target_position": [
+              0.28317835262289076,
+              -0.36292017319888437,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00734479168549791,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18823988790340998,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198080310183,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558658197638164,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590120034527114,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15605893554369482,
+            "release_required_pad_clearance": 0.05295060017263557,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9354364280529271,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007864534854888916,
+            "max_z_decrease": 0.007864534854888916,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512239320968579,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007864534854888916,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210561873061651,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007864534854888916,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007864562785340617,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13887828588485712,
+              -0.41918164491653437,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13887828588485712,
+              -0.41918164491653437,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13847387570007308,
+              -0.419015637759371,
+              0.808182752954005
+            ],
+            "closest_button": [
+              0.13887152075767512,
+              -0.4191818237304687,
+              0.7730630040168762
+            ],
+            "closest_ee_minus_button": [
+              -0.0003976450576020363,
+              0.00016618597109768762,
+              0.03511974893712877
+            ],
+            "button_min_z_position": [
+              0.13885761797428128,
+              -0.419178158044815,
+              0.7689443230628967
+            ],
+            "min_active_finger_to_button": 0.14644379129864138,
+            "closest_active_finger": [
+              0.011273115873336792,
+              -0.4823591411113739,
+              0.810603678226471
+            ],
+            "closest_active_finger_button": [
+              0.1388781368732452,
+              -0.41918173432350153,
+              0.7763785719871521
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12760502099990842,
+              -0.06317740678787237,
+              0.03422510623931885
+            ],
+            "min_contact_pad_to_button": 0.0210561873061651,
+            "closest_contact_pad": [
+              0.13885761797428128,
+              -0.42008234895865826,
+              0.7899810876112685
+            ],
+            "closest_contact_pad_button": [
+              0.13885761797428128,
+              -0.419178158044815,
+              0.7689443230628967
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009041909138432502,
+              0.021036764548371778
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5dcfcec733bbc44193da23e19a3b677a542c6e1b84ebd58aadcd195a5cbb7bf0",
+    "visual_seed": 5342269181249625276,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..804316cc8c486db9df6829505ea2f2e30244e22f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_88_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2211681747011393,
+              -0.05225852299507635,
+              1.1613817118557945
+            ],
+            "current_z": 1.1613817118557945,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30479526405187374,
+            "gripper_z": 1.154909590629724,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2165957382544659,
+              -0.05696764570119711,
+              1.154909590629724
+            ],
+            "object_minus_gripper": [
+              0.004572436446673406,
+              0.004709122706120762,
+              0.0064721212260705485
+            ],
+            "object_to_gripper_xy": 0.006563765056746734,
+            "object_to_gripper_z": 0.0064721212260705485,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2211681747011393,
+              -0.07564416782538498,
+              1.1613817118557945
+            ],
+            "finger_b": [
+              0.2102080892442445,
+              -0.05225852299507635,
+              1.1613817118557945
+            ],
+            "finger_midpoint": [
+              0.2156881319726919,
+              -0.06395134541023066,
+              1.1613817118557945
+            ],
+            "object_minus_finger_midpoint": [
+              0.005480042728447404,
+              0.011692822415154312,
+              0.0
+            ],
+            "finger_gap": 0.02582657269851689,
+            "fingertip_max_gap": 0.09254085620312824,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012913286349258441,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1613817118557945,
+            "object_top_z": 1.207051907770167,
+            "finger_top_clearance": 0.04567019591437238,
+            "fingertip_min_top_clearance": 0.013701058774311681,
+            "object_projection_between_fingers": 0.8199080392673068,
+            "object_to_finger_line_xy": 0.009924222962015077,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877042810156412,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.778207949712084,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 310,
+            "max_stable_success_frames": 310,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2943907030261222,
+              -0.3585113116327376,
+              0.8470183207849878
+            ],
+            "target_position": [
+              0.28700016642330034,
+              -0.3590720214342509,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074117762216058996,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18652713778583097,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470183207849878,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527196702684572,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524330101531301,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15532399416371537,
+            "release_required_pad_clearance": 0.052621650507656506,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3039017041390506,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008057594299316406,
+            "max_z_decrease": 0.008057594299316406,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035200355193441224,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008057594299316406,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02116280546909987,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008057594299316406,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008057604106044006,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14270009100437164,
+              -0.4153334796428681,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14270009100437164,
+              -0.4153334796428681,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14406392491441034,
+              -0.416719625340628,
+              0.8038971668401582
+            ],
+            "closest_button": [
+              0.14269131422042847,
+              -0.415324479341507,
+              0.7687512636184692
+            ],
+            "closest_ee_minus_button": [
+              0.0013726106939818683,
+              -0.0013951459991209947,
+              0.03514590322168898
+            ],
+            "button_min_z_position": [
+              0.14269131422042847,
+              -0.415324479341507,
+              0.7687512636184692
+            ],
+            "min_active_finger_to_button": 0.1442387354349452,
+            "closest_active_finger": [
+              0.003278017044067383,
+              -0.4014851748943329,
+              0.8110741376876831
+            ],
+            "closest_active_finger_button": [
+              0.14269836246967316,
+              -0.4153349697589874,
+              0.7767964005470276
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13942034542560577,
+              0.013849794864654541,
+              0.03427773714065552
+            ],
+            "min_contact_pad_to_button": 0.02116280546909987,
+            "closest_contact_pad": [
+              0.14269131422042847,
+              -0.41782121392075533,
+              0.7897662737722557
+            ],
+            "closest_contact_pad_button": [
+              0.14269131422042847,
+              -0.415324479341507,
+              0.7687512636184692
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024967345792483164,
+              0.021015010153786484
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a000f62e9ba1071db32d2c1e99171645a615f29c0a4f350b1ded665f60e91ad8",
+    "visual_seed": 369613627897549349,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6989ca042f6f4b058b6d88a2f7a1e790de9be9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_89_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22643254277028355,
+              -0.05338525311352957,
+              1.1610686635441845
+            ],
+            "current_z": 1.1610686635441845,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3044822157402637,
+            "gripper_z": 1.1545508553179047,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22188503853921807,
+              -0.058016799507668124,
+              1.1545508553179047
+            ],
+            "object_minus_gripper": [
+              0.00454750423106548,
+              0.004631546394138555,
+              0.0065178082262797865
+            ],
+            "object_to_gripper_xy": 0.006490840988085928,
+            "object_to_gripper_z": 0.0065178082262797865,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22643254277028355,
+              -0.07672992377650174,
+              1.1610686635441845
+            ],
+            "finger_b": [
+              0.21564390133300443,
+              -0.05338525311352957,
+              1.1610686635441845
+            ],
+            "finger_midpoint": [
+              0.22103822205164397,
+              -0.06505758844501566,
+              1.1610686635441845
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053943207186395725,
+              0.011672335331486094,
+              0.0
+            ],
+            "finger_gap": 0.02571708444642996,
+            "fingertip_max_gap": 0.0929272433922021,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012858542223214992,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1610686635441845,
+            "object_top_z": 1.2069687341720816,
+            "finger_top_clearance": 0.04590007062789714,
+            "fingertip_min_top_clearance": 0.013770021188369142,
+            "object_projection_between_fingers": 0.8240091628875726,
+            "object_to_finger_line_xy": 0.009793383918725602,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896362169610105,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.856537102657011,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 318,
+            "max_stable_success_frames": 318,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29292430422536764,
+              -0.3578545744050682,
+              0.8470192365422298
+            ],
+            "target_position": [
+              0.2845966996313043,
+              -0.3589674415841218,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00840163505713499,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18829149821964658,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192365422298,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531213939773977,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859292020735135,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15693395308993927,
+            "release_required_pad_clearance": 0.05296460103675675,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9626521306592507,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00810098648071289,
+            "max_z_decrease": 0.00810098648071289,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510897908751016,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00810098648071289,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02103165017934295,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00810098648071289,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008101007107009315,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14029662311077112,
+              -0.4152289032936096,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14029662311077112,
+              -0.4152289032936096,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1411931075999164,
+              -0.41555856845862965,
+              0.8038038778116414
+            ],
+            "closest_button": [
+              0.14030387997627253,
+              -0.4152121245861054,
+              0.7687078714370728
+            ],
+            "closest_ee_minus_button": [
+              0.000889227623643879,
+              -0.00034644387252424913,
+              0.03509600637456867
+            ],
+            "button_min_z_position": [
+              0.14030387997627253,
+              -0.4152121245861054,
+              0.7687078714370728
+            ],
+            "min_active_finger_to_button": 0.14480350720266078,
+            "closest_active_finger": [
+              0.00043326616287231445,
+              -0.39999330043792725,
+              0.810774028301239
+            ],
+            "closest_active_finger_button": [
+              0.14029590785503382,
+              -0.4152292609214783,
+              0.7765050530433655
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1398626416921615,
+              0.015235960483551081,
+              0.034268975257873535
+            ],
+            "min_contact_pad_to_button": 0.02103165017934295,
+            "closest_contact_pad": [
+              0.14030387997627253,
+              -0.41669375731063807,
+              0.7896872678472617
+            ],
+            "closest_contact_pad_button": [
+              0.14030387997627253,
+              -0.4152121245861054,
+              0.7687078714370728
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014816327245326666,
+              0.020979396410188977
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8849421ec3bcc70ea791ff2380c41da36a4981d26468383bb4b509b4bd4c34df",
+    "visual_seed": 355508737547341083,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae74e58490c7b48aa604a19183528ef136646ec3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_8_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22367899583529957,
+              -0.05235697301036023,
+              1.1584894097371026
+            ],
+            "current_z": 1.1584894097371026,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.30190302153782655,
+            "gripper_z": 1.1520771928097306,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2190715799188747,
+              -0.05714343516439627,
+              1.1520771928097306
+            ],
+            "object_minus_gripper": [
+              0.004607415916424884,
+              0.004786462154036039,
+              0.006412216927371928
+            ],
+            "object_to_gripper_xy": 0.0066436813122654126,
+            "object_to_gripper_z": 0.006412216927371928,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22367899583529957,
+              -0.07572060156341522,
+              1.1584894097371026
+            ],
+            "finger_b": [
+              0.21255074302796062,
+              -0.05235697301036023,
+              1.1584894097371026
+            ],
+            "finger_midpoint": [
+              0.2181148694316301,
+              -0.06403878728688772,
+              1.1584894097371026
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055641264036694615,
+              0.011681814276527494,
+              0.0
+            ],
+            "finger_gap": 0.02587850748612009,
+            "fingertip_max_gap": 0.09233546761668468,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012939253743060038,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1584894097371026,
+            "object_top_z": 1.2041701390469528,
+            "finger_top_clearance": 0.04568072930985023,
+            "fingertip_min_top_clearance": 0.013704218792955069,
+            "object_projection_between_fingers": 0.8150835633721514,
+            "object_to_finger_line_xy": 0.010046806801922697,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866773380834234,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4666394927487394,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 309,
+            "max_stable_success_frames": 309,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.292061531595337,
+              -0.36488299054033035,
+              0.8470197480079789
+            ],
+            "target_position": [
+              0.286371258655816,
+              -0.364891107330449,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0056902787285445814,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1866762545249384,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197480079789,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569378527323455,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585163982239107,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15421664117150263,
+            "release_required_pad_clearance": 0.052925819911195535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8891078005149556,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008078932762145996,
+            "max_z_decrease": 0.008078932762145996,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510341208232965,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008078932762145996,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021034022829241786,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008078932762145996,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008078942453413826,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1420711874961853,
+              -0.4211525619029999,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1420711874961853,
+              -0.4211525619029999,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14142136452373813,
+              -0.42164819128120457,
+              0.8038236135869036
+            ],
+            "closest_button": [
+              0.14207288622856137,
+              -0.4211401641368866,
+              0.7687299251556396
+            ],
+            "closest_ee_minus_button": [
+              -0.0006515217048232436,
+              -0.0005080271443179685,
+              0.035093688431263925
+            ],
+            "button_min_z_position": [
+              0.14207288622856137,
+              -0.4211401641368866,
+              0.7687299251556396
+            ],
+            "min_active_finger_to_button": 0.1463124993006967,
+            "closest_active_finger": [
+              0.0005581751465797424,
+              -0.40685564279556274,
+              0.8111209869384766
+            ],
+            "closest_active_finger_button": [
+              0.1420698910951614,
+              -0.421153575181961,
+              0.7768084406852722
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14151171594858167,
+              0.01429793238639826,
+              0.034312546253204346
+            ],
+            "min_contact_pad_to_button": 0.021034022829241786,
+            "closest_contact_pad": [
+              0.14207288622856137,
+              -0.42271040953111105,
+              0.7897052546115262
+            ],
+            "closest_contact_pad_button": [
+              0.14207288622856137,
+              -0.4211401641368866,
+              0.7687299251556396
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015702453942244565,
+              0.020975329455886538
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eca5c91fd1b6c7ceb7d91c6ae2d3021ca0b98284be2b0a629e9b74d878444a49",
+    "visual_seed": 5538721750469640233,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba1923763aa46fa09139fb11deeb413bb2ebcb9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_90_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23103368661823254,
+              -0.05426216667646027,
+              1.1605823294909619
+            ],
+            "current_z": 1.1605823294909619,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.30399588168704095,
+            "gripper_z": 1.1538556232359032,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2264640914991661,
+              -0.058713788589833726,
+              1.1538556232359032
+            ],
+            "object_minus_gripper": [
+              0.004569595119066433,
+              0.004451621913373456,
+              0.006726706255058668
+            ],
+            "object_to_gripper_xy": 0.006379509166998863,
+            "object_to_gripper_z": 0.006726706255058668,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23103368661823254,
+              -0.07800270191596652,
+              1.1605823294909619
+            ],
+            "finger_b": [
+              0.22099826474464618,
+              -0.05426216667646027,
+              1.1605823294909619
+            ],
+            "finger_midpoint": [
+              0.22601597568143936,
+              -0.06613243429621339,
+              1.1605823294909619
+            ],
+            "object_minus_finger_midpoint": [
+              0.005017710936793179,
+              0.01187026761975312,
+              0.0
+            ],
+            "finger_gap": 0.025774458396619966,
+            "fingertip_max_gap": 0.09224673346234974,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012887229198309981,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1605823294909619,
+            "object_top_z": 1.206444078205679,
+            "finger_top_clearance": 0.04586174871471704,
+            "fingertip_min_top_clearance": 0.013758524614415112,
+            "object_projection_between_fingers": 0.8484024536178234,
+            "object_to_finger_line_xy": 0.009243503121075566,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862336673117487,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2551313894815912,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3000130623166274,
+              -0.3577174528875361,
+              0.8470196042442925
+            ],
+            "target_position": [
+              0.29193866474816604,
+              -0.35900348043584174,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008176170432945702,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1870715458581086,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196042442925,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573923869531957,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08838143468261593,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15482513037614543,
+            "release_required_pad_clearance": 0.05419071734130797,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3976227233610996,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00807809829711914,
+            "max_z_decrease": 0.00807809829711914,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515261204335371,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00807809829711914,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02098773801333414,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00807809829711914,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008078104952326297,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14763858914375305,
+              -0.4152649343013763,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14763858914375305,
+              -0.4152649343013763,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14719544094057432,
+              -0.4141526820463993,
+              0.8038632733805688
+            ],
+            "closest_button": [
+              0.14764049649238584,
+              -0.41525474190711964,
+              0.7687307596206665
+            ],
+            "closest_ee_minus_button": [
+              -0.0004450555518115129,
+              0.001102059860720317,
+              0.03513251375990234
+            ],
+            "button_min_z_position": [
+              0.14764049649238584,
+              -0.41525474190711964,
+              0.7687307596206665
+            ],
+            "min_active_finger_to_button": 0.1456535145364144,
+            "closest_active_finger": [
+              0.019735760986804962,
+              -0.4760269820690155,
+              0.8108319044113159
+            ],
+            "closest_active_finger_button": [
+              0.14764183759689328,
+              -0.41526407003402704,
+              0.7767313122749329
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12790607661008832,
+              -0.06076291203498846,
+              0.03410059213638306
+            ],
+            "min_contact_pad_to_button": 0.02098773801333414,
+            "closest_contact_pad": [
+              0.14764049649238584,
+              -0.4154407409477601,
+              0.7897176734307824
+            ],
+            "closest_contact_pad_button": [
+              0.14764049649238584,
+              -0.41525474190711964,
+              0.7687307596206665
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00018599904064048323,
+              0.02098691381011586
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fee3b31ee16ee308f3e18681f2981746fee4c4a77f42e3dca62f38ac0182cf9a",
+    "visual_seed": 3269569875991695767,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..621e4392f47e2f2375d3df13b7b4b1f30ce058e8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_91_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22664218492426225,
+              -0.04549856135924753,
+              1.161763893546261
+            ],
+            "current_z": 1.161763893546261,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3051773861376955,
+            "gripper_z": 1.155086473805376,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22218304263562522,
+              -0.05018419279568202,
+              1.155086473805376
+            ],
+            "object_minus_gripper": [
+              0.00445914228863703,
+              0.004685631436434495,
+              0.006677419740884982
+            ],
+            "object_to_gripper_xy": 0.006468314456519123,
+            "object_to_gripper_z": 0.006677419740884982,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22664218492426225,
+              -0.06876484731293935,
+              1.161763893546261
+            ],
+            "finger_b": [
+              0.2157631844793978,
+              -0.04549856135924753,
+              1.161763893546261
+            ],
+            "finger_midpoint": [
+              0.22120268470183002,
+              -0.057131704336093436,
+              1.161763893546261
+            ],
+            "object_minus_finger_midpoint": [
+              0.005439500222432225,
+              0.011633142976845909,
+              0.0
+            ],
+            "finger_gap": 0.025684094548150186,
+            "fingertip_max_gap": 0.09270318032842023,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012842047274075093,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161763893546261,
+            "object_top_z": 1.2076992534281674,
+            "finger_top_clearance": 0.045935359881906335,
+            "fingertip_min_top_clearance": 0.0137806079645719,
+            "object_projection_between_fingers": 0.820588833840818,
+            "object_to_finger_line_xy": 0.009854890339468337,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04885159016421012,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4477589140104605,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29078353212701347,
+              -0.3612059532455535,
+              0.8470189431379552
+            ],
+            "target_position": [
+              0.28472497364232024,
+              -0.361280168885153,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006059013028011195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18617050204548388,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189431379552,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562773349644111,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578378517790418,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15370698816780262,
+            "release_required_pad_clearance": 0.05289189258895209,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8223374164312484,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007832765579223633,
+            "max_z_decrease": 0.007832765579223633,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035129173849613324,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007832765579223633,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021051749907159634,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007832765579223633,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007832793212309144,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14042489230632782,
+              -0.41754162311553955,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14042489230632782,
+              -0.41754162311553955,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14028790095517207,
+              -0.4165063648990679,
+              0.8082354354813044
+            ],
+            "closest_button": [
+              0.14041981101036066,
+              -0.4175398349761963,
+              0.77312171459198
+            ],
+            "closest_ee_minus_button": [
+              -0.00013191005518858878,
+              0.0010334700771283956,
+              0.03511372088932441
+            ],
+            "button_min_z_position": [
+              0.14040428400039667,
+              -0.41753876209259033,
+              0.768976092338562
+            ],
+            "min_active_finger_to_button": 0.14584150439605248,
+            "closest_active_finger": [
+              0.014021918177604675,
+              -0.4817073345184326,
+              0.8107283115386963
+            ],
+            "closest_active_finger_button": [
+              0.14042454957962033,
+              -0.4175410568714142,
+              0.7764528393745422
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12640263140201566,
+              -0.06416627764701843,
+              0.03427547216415405
+            ],
+            "min_contact_pad_to_button": 0.021051749907159634,
+            "closest_contact_pad": [
+              0.14040428400039667,
+              -0.41753876209259033,
+              0.7900278422457216
+            ],
+            "closest_contact_pad_button": [
+              0.14040428400039667,
+              -0.41753876209259033,
+              0.768976092338562
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021051749907159634
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b7061133424682ef5522930218ac9613ef86e6002bc10bbacbb75fac1614736a",
+    "visual_seed": 3893173766629875252,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8e97e0be2b17d6f4b53c9611cdb53b73436cc95
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_92_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22579480881953864,
+              -0.04358101225165735,
+              1.1593815691346852
+            ],
+            "current_z": 1.1593815691346852,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3027950617261196,
+            "gripper_z": 1.1530825225704988,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22088815001071105,
+              -0.04837449056826455,
+              1.1530825225704988
+            ],
+            "object_minus_gripper": [
+              0.004906658808827596,
+              0.004793478316607203,
+              0.006299046564186339
+            ],
+            "object_to_gripper_xy": 0.006859499620091021,
+            "object_to_gripper_z": 0.006299046564186339,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22579480881953864,
+              -0.06725595103828019,
+              1.1593815691346852
+            ],
+            "finger_b": [
+              0.21491124197362585,
+              -0.04358101225165735,
+              1.1593815691346852
+            ],
+            "finger_midpoint": [
+              0.22035302539658225,
+              -0.05541848164496877,
+              1.1593815691346852
+            ],
+            "object_minus_finger_midpoint": [
+              0.005441783422956398,
+              0.011837469393311421,
+              0.0
+            ],
+            "finger_gap": 0.026056760232995024,
+            "fingertip_max_gap": 0.09259604959182302,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013028380116497512,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1593815691346852,
+            "object_top_z": 1.2053597387016675,
+            "finger_top_clearance": 0.04597816956698231,
+            "fingertip_min_top_clearance": 0.013793450870094691,
+            "object_projection_between_fingers": 0.8255376715170587,
+            "object_to_finger_line_xy": 0.009888711280799406,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879802479591151,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.417909988858444,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2984101952538648,
+              -0.35871022093528193,
+              0.8470195715917048
+            ],
+            "target_position": [
+              0.2896551507615875,
+              -0.35999393699696264,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008848657016111115,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18674772834861247,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195715917048,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751956153177013,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555183087916528,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15572378906434375,
+            "release_required_pad_clearance": 0.05277591543958264,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.600028693003094,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00799703598022461,
+            "max_z_decrease": 0.00799703598022461,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514035340922114,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00799703598022461,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021063023303401623,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00799703598022461,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00799706031997903,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.145355075597763,
+              -0.41625538468360906,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.145355075597763,
+              -0.41625538468360906,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1448102027056043,
+              -0.4162848844661554,
+              0.8080815722365045
+            ],
+            "closest_button": [
+              0.14534415304660794,
+              -0.4162595272064209,
+              0.7729452848434448
+            ],
+            "closest_ee_minus_button": [
+              -0.0005339503410036472,
+              -2.5357259734515303e-05,
+              0.03513628739305963
+            ],
+            "button_min_z_position": [
+              0.14533542096614835,
+              -0.4162536561489105,
+              0.768811821937561
+            ],
+            "min_active_finger_to_button": 0.14660841078916742,
+            "closest_active_finger": [
+              0.016659922897815704,
+              -0.47763651609420776,
+              0.8103616237640381
+            ],
+            "closest_active_finger_button": [
+              0.14535489678382874,
+              -0.4162563979625702,
+              0.7762425541877747
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12869497388601303,
+              -0.06138011813163757,
+              0.03411906957626343
+            ],
+            "min_contact_pad_to_button": 0.021063023303401623,
+            "closest_contact_pad": [
+              0.14533542096614835,
+              -0.41756228367356185,
+              0.7898341539842528
+            ],
+            "closest_contact_pad_button": [
+              0.14533542096614835,
+              -0.4162536561489105,
+              0.768811821937561
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001308627524651329,
+              0.021022332046691794
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3bdbce7852b4b81e66cc46f4dddd3776d3bc4be50403236a1c637d8c55ead54",
+    "visual_seed": 7888815077135091351,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08abc5ea2cfd2fdb048ed0b1e6c4d29359ab8aeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_93_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23135298014355937,
+              -0.04774332794253488,
+              1.1610293106860663
+            ],
+            "current_z": 1.1610293106860663,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.3044429224867903,
+            "gripper_z": 1.15440242106375,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22668861686155345,
+              -0.05232171314462024,
+              1.15440242106375
+            ],
+            "object_minus_gripper": [
+              0.004664363282005923,
+              0.00457838520208536,
+              0.006626889622316279
+            ],
+            "object_to_gripper_xy": 0.006535892891196984,
+            "object_to_gripper_z": 0.006626889622316279,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23135298014355937,
+              -0.07144922485499561,
+              1.1610293106860663
+            ],
+            "finger_b": [
+              0.22099051110002177,
+              -0.04774332794253488,
+              1.1610293106860663
+            ],
+            "finger_midpoint": [
+              0.22617174562179057,
+              -0.05959627639876525,
+              1.1610293106860663
+            ],
+            "object_minus_finger_midpoint": [
+              0.005181234521768802,
+              0.011852948456230368,
+              0.0
+            ],
+            "finger_gap": 0.025871805369987042,
+            "fingertip_max_gap": 0.09231093807315155,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012935902684993525,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1610293106860663,
+            "object_top_z": 1.2069422140742128,
+            "finger_top_clearance": 0.045912903388146464,
+            "fingertip_min_top_clearance": 0.013773871016443938,
+            "object_projection_between_fingers": 0.8395746403993493,
+            "object_to_finger_line_xy": 0.009494954812455393,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865546903657578,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3517677885239299,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29340554630607213,
+              -0.3599301565616886,
+              0.8470196178379592
+            ],
+            "target_position": [
+              0.28447336166935966,
+              -0.36139505234527763,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009051510483952347,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18864524372231797,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196178379592,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588289966239355,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749763648551116,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1559250060932696,
+            "release_required_pad_clearance": 0.05374881824275558,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5054658339180835,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008062481880187988,
+            "max_z_decrease": 0.008062481880187988,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035166797129171715,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008062481880187988,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02101117616303194,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008062481880187988,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00806248705173729,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14017328619956965,
+              -0.4176565110683441,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14017328619956965,
+              -0.4176565110683441,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13974092573071378,
+              -0.4159870925479376,
+              0.8078378449443695
+            ],
+            "closest_button": [
+              0.140160784125328,
+              -0.417657345533371,
+              0.7727132439613342
+            ],
+            "closest_ee_minus_button": [
+              -0.00041985839461422536,
+              0.0016702529854334403,
+              0.03512460098303527
+            ],
+            "button_min_z_position": [
+              0.1401690244674682,
+              -0.4176484346389771,
+              0.7687463760375977
+            ],
+            "min_active_finger_to_button": 0.14580764841287658,
+            "closest_active_finger": [
+              0.011959515511989594,
+              -0.4781053066253662,
+              0.8107057213783264
+            ],
+            "closest_active_finger_button": [
+              0.14017286896705625,
+              -0.4176566600799561,
+              0.7765418887138367
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12821335345506665,
+              -0.0604486465454101,
+              0.034163832664489746
+            ],
+            "min_contact_pad_to_button": 0.02101117616303194,
+            "closest_contact_pad": [
+              0.1401690244674682,
+              -0.4176484346389771,
+              0.7897575522006296
+            ],
+            "closest_contact_pad_button": [
+              0.1401690244674682,
+              -0.4176484346389771,
+              0.7687463760375977
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02101117616303194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f754df4dd91efed76ef646835a257a5b5ab31f40744bb71bb6c4f86e3ab96494",
+    "visual_seed": 8883252320204507901,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d73b8d65791833d751b4c9ab4bdff79a6890c022
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_94_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2312710541215097,
+              -0.05387072001411452,
+              1.1607650065654924
+            ],
+            "current_z": 1.1607650065654924,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3041784395522821,
+            "gripper_z": 1.1539469695582647,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22683631465502543,
+              -0.05851745639547809,
+              1.1539469695582647
+            ],
+            "object_minus_gripper": [
+              0.004434739466484261,
+              0.004646736381363571,
+              0.0068180370072277174
+            ],
+            "object_to_gripper_xy": 0.006423322592979503,
+            "object_to_gripper_z": 0.0068180370072277174,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2312710541215097,
+              -0.07716815176497695,
+              1.1607650065654924
+            ],
+            "finger_b": [
+              0.2205123621539518,
+              -0.05387072001411452,
+              1.1607650065654924
+            ],
+            "finger_midpoint": [
+              0.22589170813773074,
+              -0.06551943588954573,
+              1.1607650065654924
+            ],
+            "object_minus_finger_midpoint": [
+              0.005379345983778955,
+              0.01164871587543121,
+              0.0
+            ],
+            "finger_gap": 0.025661640225030185,
+            "fingertip_max_gap": 0.09261359146982837,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012830820112515096,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1607650065654924,
+            "object_top_z": 1.2067587069355494,
+            "finger_top_clearance": 0.04599370037005701,
+            "fingertip_min_top_clearance": 0.013798110111017137,
+            "object_projection_between_fingers": 0.8242278265024456,
+            "object_to_finger_line_xy": 0.00976749302245494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048806795734914185,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3886368393791704,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29871850962836277,
+              -0.366968237088554,
+              0.8470196316562586
+            ],
+            "target_position": [
+              0.292532060560621,
+              -0.36721447368270865,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006191347553486577,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18649665412198074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196316562586,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550409043255304,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525881108693377,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15454989894463672,
+            "release_required_pad_clearance": 0.05262940554346689,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.31898055169477485,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008108139038085938,
+            "max_z_decrease": 0.008108139038085938,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512856550002827,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008108139038085938,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02095680518054124,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008108139038085938,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008108160935488119,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14823198318481445,
+              -0.4234759211540222,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14823198318481445,
+              -0.4234759211540222,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1494212358909154,
+              -0.4226942827438187,
+              0.8038011101640167
+            ],
+            "closest_button": [
+              0.14824078977108002,
+              -0.4234592616558075,
+              0.7687007188796997
+            ],
+            "closest_ee_minus_button": [
+              0.0011804461198353933,
+              0.0007649789119887895,
+              0.03510039128431697
+            ],
+            "button_min_z_position": [
+              0.14824078977108002,
+              -0.4234592616558075,
+              0.7687007188796997
+            ],
+            "min_active_finger_to_button": 0.14438306528801068,
+            "closest_active_finger": [
+              0.022364147007465363,
+              -0.48544061183929443,
+              0.8104727268218994
+            ],
+            "closest_active_finger_button": [
+              0.14823119342327118,
+              -0.42347678542137146,
+              0.7763488292694092
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12586704641580582,
+              -0.061963826417922974,
+              0.034123897552490234
+            ],
+            "min_contact_pad_to_button": 0.02095680518054124,
+            "closest_contact_pad": [
+              0.14824078977108002,
+              -0.4238959682642628,
+              0.7896529734293488
+            ],
+            "closest_contact_pad_button": [
+              0.14824078977108002,
+              -0.4234592616558075,
+              0.7687007188796997
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004367066084552951,
+              0.020952254549649107
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bbffd0f26799e29dabdf2519866913b6aaaa6dc16291e136d7828b4117e8d006",
+    "visual_seed": 3585237763909016010,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1c45b4548e692218ce0da508a100d98386898bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_95_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22520256560373306,
+              -0.04960956860804782,
+              1.1627527985474144
+            ],
+            "current_z": 1.1627527985474144,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.3061664699527832,
+            "gripper_z": 1.1562603376518987,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22073310365826534,
+              -0.054214154296369624,
+              1.1562603376518987
+            ],
+            "object_minus_gripper": [
+              0.004469461945467712,
+              0.004604585688321804,
+              0.006492460895515695
+            ],
+            "object_to_gripper_xy": 0.006417031980836779,
+            "object_to_gripper_z": 0.006492460895515695,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22520256560373306,
+              -0.07291104078544469,
+              1.1627527985474144
+            ],
+            "finger_b": [
+              0.21447165756097925,
+              -0.04960956860804782,
+              1.1627527985474144
+            ],
+            "finger_midpoint": [
+              0.21983711158235614,
+              -0.06126030469674626,
+              1.1627527985474144
+            ],
+            "object_minus_finger_midpoint": [
+              0.00536545402137692,
+              0.01165073608869844,
+              0.0
+            ],
+            "finger_gap": 0.025653674065444096,
+            "fingertip_max_gap": 0.09302910037079506,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012826837032722057,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627527985474144,
+            "object_top_z": 1.2086219377549596,
+            "finger_top_clearance": 0.045869139207545206,
+            "fingertip_min_top_clearance": 0.013760741762263561,
+            "object_projection_between_fingers": 0.8250258867621847,
+            "object_to_finger_line_xy": 0.009746984176946721,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049014550185397535,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9497854590655403,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29069572582863323,
+              -0.3676340548563919,
+              0.8470196159697572
+            ],
+            "target_position": [
+              0.28336662948700914,
+              -0.3685986070954192,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007392294245132583,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18811309643473767,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196159697572,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585061545704373,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08715130358467181,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15543926949479206,
+            "release_required_pad_clearance": 0.05357565179233591,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1620165798434834,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008135318756103516,
+            "max_z_decrease": 0.008135318756103516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502243709869655,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008135318756103516,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020970238631806252,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008135318756103516,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00813537974836006,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13906656205654142,
+              -0.42486006021499634,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13906656205654142,
+              -0.42486006021499634,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13835448043266818,
+              -0.4255256044785675,
+              0.803681522838564
+            ],
+            "closest_button": [
+              0.139091357588768,
+              -0.42484062910079956,
+              0.7686735391616821
+            ],
+            "closest_ee_minus_button": [
+              -0.0007368771560998244,
+              -0.0006849753777679601,
+              0.03500798367688185
+            ],
+            "button_min_z_position": [
+              0.139091357588768,
+              -0.42484062910079956,
+              0.7686735391616821
+            ],
+            "min_active_finger_to_button": 0.14639351670890516,
+            "closest_active_finger": [
+              -0.002667240798473358,
+              -0.41218462586402893,
+              0.8111292123794556
+            ],
+            "closest_active_finger_button": [
+              0.13907021284103388,
+              -0.4248577058315277,
+              0.7767642736434937
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14173745363950724,
+              0.01267307996749878,
+              0.034364938735961914
+            ],
+            "min_contact_pad_to_button": 0.020970238631806252,
+            "closest_contact_pad": [
+              0.139091357588768,
+              -0.4264624286882763,
+              0.7895809702418737
+            ],
+            "closest_contact_pad_button": [
+              0.139091357588768,
+              -0.42484062910079956,
+              0.7686735391616821
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016217995874767133,
+              0.020907431080191552
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7966549c9f0df9523cdb86b09a58ae8682425380b50f4b9f0eef962709cf7292",
+    "visual_seed": 5749204741609813953,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1eb24315605b38f7794823045068bff29351210
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_96_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22397570473906492,
+              -0.05347949327236873,
+              1.1593020676035404
+            ],
+            "current_z": 1.1593020676035404,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.3027155005903299,
+            "gripper_z": 1.1526305948323066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21947120143679924,
+              -0.05803777350460071,
+              1.1526305948323066
+            ],
+            "object_minus_gripper": [
+              0.004504503302265678,
+              0.0045582802322319815,
+              0.006671472771233811
+            ],
+            "object_to_gripper_xy": 0.006408468512498071,
+            "object_to_gripper_z": 0.006671472771233811,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22397570473906492,
+              -0.07686881383289852,
+              1.1593020676035404
+            ],
+            "finger_b": [
+              0.2133913436070398,
+              -0.05347949327236873,
+              1.1593020676035404
+            ],
+            "finger_midpoint": [
+              0.21868352417305237,
+              -0.06517415355263362,
+              1.1593020676035404
+            ],
+            "object_minus_finger_midpoint": [
+              0.00529218056601255,
+              0.01169466028026489,
+              0.0
+            ],
+            "finger_gap": 0.025672729049642268,
+            "fingertip_max_gap": 0.09264385351253102,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012836364524821122,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1593020676035404,
+            "object_top_z": 1.205242191955063,
+            "finger_top_clearance": 0.045940124351522726,
+            "fingertip_min_top_clearance": 0.013782037305456818,
+            "object_projection_between_fingers": 0.8300249318256476,
+            "object_to_finger_line_xy": 0.009642956733062907,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882192675626551,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6296387738269278,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 317,
+            "max_stable_success_frames": 317,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29399470874916006,
+              -0.36532798655409826,
+              0.8470195334142525
+            ],
+            "target_position": [
+              0.28711639682779927,
+              -0.365806394873036,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006894929253238413,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867378714448356,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195334142525,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544466220038673,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591959508368034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15484161644189565,
+            "release_required_pad_clearance": 0.05295979754184017,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9553075534831763,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00814741849899292,
+            "max_z_decrease": 0.00814741849899292,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035046552324182786,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00814741849899292,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02101091326515726,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00814741849899292,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008147485434151154,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14281632006168365,
+              -0.4220678508281708,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14281632006168365,
+              -0.4220678508281708,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14298408631777024,
+              -0.42294047739282287,
+              0.8036963874200379
+            ],
+            "closest_button": [
+              0.14284387230873108,
+              -0.4220496416091919,
+              0.7686614394187927
+            ],
+            "closest_ee_minus_button": [
+              0.00014021400903915793,
+              -0.0008908357836309722,
+              0.03503494800124518
+            ],
+            "button_min_z_position": [
+              0.14284387230873108,
+              -0.4220496416091919,
+              0.7686614394187927
+            ],
+            "min_active_finger_to_button": 0.14541922275114752,
+            "closest_active_finger": [
+              0.0024770423769950867,
+              -0.4053006172180176,
+              0.810871422290802
+            ],
+            "closest_active_finger_button": [
+              0.14281721413135529,
+              -0.422067791223526,
+              0.7766625285148621
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1403401717543602,
+              0.016767174005508423,
+              0.03420889377593994
+            ],
+            "min_contact_pad_to_button": 0.02101091326515726,
+            "closest_contact_pad": [
+              0.14284387230873108,
+              -0.42425513727178726,
+              0.789556277659809
+            ],
+            "closest_contact_pad_button": [
+              0.14284387230873108,
+              -0.4220496416091919,
+              0.7686614394187927
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022054956625953692,
+              0.020894838241016234
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec1172c790066b53549f09d7c58e38b5a7e0ec83a1de1114abe1a68cc98fa419",
+    "visual_seed": 5866264077226725300,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e5b7a50842e227071969f75938757c319129d9f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_97_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22230329878879254,
+              -0.0520130465709191,
+              1.1579865067993746
+            ],
+            "current_z": 1.1579865067993746,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30140005899545386,
+            "gripper_z": 1.1516982037990113,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21767072646349747,
+              -0.05679725180227092,
+              1.1516982037990113
+            ],
+            "object_minus_gripper": [
+              0.00463257232529507,
+              0.004784205231351826,
+              0.006288303000363316
+            ],
+            "object_to_gripper_xy": 0.006659530467291516,
+            "object_to_gripper_z": 0.006288303000363316,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22230329878879254,
+              -0.07534420122472034,
+              1.1579865067993746
+            ],
+            "finger_b": [
+              0.21108156758696528,
+              -0.0520130465709191,
+              1.1579865067993746
+            ],
+            "finger_midpoint": [
+              0.2166924331878789,
+              -0.06367862389781972,
+              1.1579865067993746
+            ],
+            "object_minus_finger_midpoint": [
+              0.005610865600913645,
+              0.011665577326900628,
+              0.0
+            ],
+            "finger_gap": 0.02588957374399306,
+            "fingertip_max_gap": 0.09235923124314316,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012944786871996542,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1579865067993746,
+            "object_top_z": 1.2036572535815504,
+            "finger_top_clearance": 0.04567074678217575,
+            "fingertip_min_top_clearance": 0.013701224034652725,
+            "object_projection_between_fingers": 0.8121245978721268,
+            "object_to_finger_line_xy": 0.010112794777626092,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867961562157158,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5790014521624947,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 304,
+            "max_stable_success_frames": 304,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2944269156444955,
+              -0.36449019583558806,
+              0.847019380077818
+            ],
+            "target_position": [
+              0.28791712569461503,
+              -0.36495274387695115,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006526202255686988,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18388622994438455,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019380077818,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573298072456142,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08545689462922533,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1514525028858133,
+            "release_required_pad_clearance": 0.05272844731461267,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5082174099098334,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008086800575256348,
+            "max_z_decrease": 0.008086800575256348,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516576526461472,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008086800575256348,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020982906604444573,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008086800575256348,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008086812527250301,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14361704885959625,
+              -0.42121419310569763,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14361704885959625,
+              -0.42121419310569763,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14294829114281887,
+              -0.419291631526405,
+              0.8038295289943471
+            ],
+            "closest_button": [
+              0.143620491027832,
+              -0.4212007224559784,
+              0.7687220573425293
+            ],
+            "closest_ee_minus_button": [
+              -0.0006721998850131305,
+              0.0019090909295734204,
+              0.03510747165181782
+            ],
+            "button_min_z_position": [
+              0.143620491027832,
+              -0.4212007224559784,
+              0.7687220573425293
+            ],
+            "min_active_finger_to_button": 0.14553472155889507,
+            "closest_active_finger": [
+              0.016659468412399292,
+              -0.48360496759414673,
+              0.8110014796257019
+            ],
+            "closest_active_finger_button": [
+              0.14361660182476044,
+              -0.42121419310569763,
+              0.776801586151123
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12695713341236115,
+              -0.0623907744884491,
+              0.03419989347457886
+            ],
+            "min_contact_pad_to_button": 0.020982906604444573,
+            "closest_contact_pad": [
+              0.143620491027832,
+              -0.4212007224559784,
+              0.7897049639469739
+            ],
+            "closest_contact_pad_button": [
+              0.143620491027832,
+              -0.4212007224559784,
+              0.7687220573425293
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020982906604444573
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27507495d0b777ebdf794151747590f2ef0423728adb26a3c5555ff0f385491d",
+    "visual_seed": 2441012003006338003,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3799115f74557c5d5b08df9d2434e3c3d7e070df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_98_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23166359978592607,
+              -0.04578034313947946,
+              1.1590926560575106
+            ],
+            "current_z": 1.1590926560575106,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.302506148648945,
+            "gripper_z": 1.1526171194301906,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2268897844060136,
+              -0.0503801870466494,
+              1.1526171194301906
+            ],
+            "object_minus_gripper": [
+              0.004773815379912477,
+              0.004599843907169943,
+              0.006475536627319922
+            ],
+            "object_to_gripper_xy": 0.006629319516497704,
+            "object_to_gripper_z": 0.006475536627319922,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23166359978592607,
+              -0.06961272725336276,
+              1.1590926560575106
+            ],
+            "finger_b": [
+              0.22131619074200545,
+              -0.04578034313947946,
+              1.1590926560575106
+            ],
+            "finger_midpoint": [
+              0.22648989526396576,
+              -0.05769653519642111,
+              1.1590926560575106
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051737045219603095,
+              0.011916192056941652,
+              0.0
+            ],
+            "finger_gap": 0.025981751412749055,
+            "fingertip_max_gap": 0.09231438224153099,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012990875706374527,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1590926560575106,
+            "object_top_z": 1.2048987087561258,
+            "finger_top_clearance": 0.04580605269861526,
+            "fingertip_min_top_clearance": 0.01374181580958458,
+            "object_projection_between_fingers": 0.8413915253040039,
+            "object_to_finger_line_xy": 0.009491408912379153,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486571911207655,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.398487099260872,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29350756105464726,
+              -0.3605000165686515,
+              0.8470178835240763
+            ],
+            "target_position": [
+              0.28688291135882493,
+              -0.36073197268887514,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006628709318869552,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18504087695376442,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470178835240763,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522602781730307,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08666101704024241,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537267842827772,
+            "release_required_pad_clearance": 0.05333050852012121,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6706492805978608,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007979154586791992,
+            "max_z_decrease": 0.007979154586791992,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520957822134197,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007979154586791992,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105680641315988,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007979154586791992,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007979179279449878,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1425828337669372,
+              -0.41699343919754034,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1425828337669372,
+              -0.41699343919754034,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14448860134053046,
+              -0.4154533007782225,
+              0.8081431334823851
+            ],
+            "closest_button": [
+              0.14257514476776117,
+              -0.41699290275573736,
+              0.7730193138122559
+            ],
+            "closest_ee_minus_button": [
+              0.0019134565727692843,
+              0.0015396019775148484,
+              0.03512381967012923
+            ],
+            "button_min_z_position": [
+              0.14256307482719416,
+              -0.41699153184890747,
+              0.7688297033309937
+            ],
+            "min_active_finger_to_button": 0.14383458956415798,
+            "closest_active_finger": [
+              0.018213815987110138,
+              -0.48062458634376526,
+              0.8105738162994385
+            ],
+            "closest_active_finger_button": [
+              0.1425818502902984,
+              -0.4169932901859284,
+              0.7763387560844421
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12436803430318827,
+              -0.06363129615783686,
+              0.03423506021499634
+            ],
+            "min_contact_pad_to_button": 0.02105680641315988,
+            "closest_contact_pad": [
+              0.14256307482719416,
+              -0.41699153184890747,
+              0.7898865097441535
+            ],
+            "closest_contact_pad_button": [
+              0.14256307482719416,
+              -0.41699153184890747,
+              0.7688297033309937
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105680641315988
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba232d0fe46ad8fc6cc5624db84f017edd760971ec4f3d60cac9447e93692e09",
+    "visual_seed": 3727192154134853136,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32274a76f1661c6040740f1c27a85ccacff5fd88
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_99_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23317477758456076,
+              -0.0457561143718292,
+              1.1616534970274441
+            ],
+            "current_z": 1.1616534970274441,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30506704922352335,
+            "gripper_z": 1.1549676478684971,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22867281032459494,
+              -0.05025092981981899,
+              1.1549676478684971
+            ],
+            "object_minus_gripper": [
+              0.004501967259965822,
+              0.00449481544798979,
+              0.006685849158946988
+            ],
+            "object_to_gripper_xy": 0.006361688071674988,
+            "object_to_gripper_z": 0.006685849158946988,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23317477758456076,
+              -0.06932564668253406,
+              1.1616534970274441
+            ],
+            "finger_b": [
+              0.22286843599831296,
+              -0.0457561143718292,
+              1.1616534970274441
+            ],
+            "finger_midpoint": [
+              0.22802160679143685,
+              -0.057540880527181634,
+              1.1616534970274441
+            ],
+            "object_minus_finger_midpoint": [
+              0.005153170793123912,
+              0.011784766155352434,
+              0.0
+            ],
+            "finger_gap": 0.02572437618753429,
+            "fingertip_max_gap": 0.09213356882885254,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012862188093767154,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1616534970274441,
+            "object_top_z": 1.2075089432581187,
+            "finger_top_clearance": 0.04585544623067461,
+            "fingertip_min_top_clearance": 0.013756633869202383,
+            "object_projection_between_fingers": 0.8394836185942717,
+            "object_to_finger_line_xy": 0.009443014254314274,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856678441442627,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.137504384561531,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29255557502369767,
+              -0.3645955484072705,
+              0.847019201960283
+            ],
+            "target_position": [
+              0.285384573269616,
+              -0.3655315007833677,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007231823629442577,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856285472522144,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019201960283,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588654035977686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08737998187060601,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529165470020365,
+            "release_required_pad_clearance": 0.05368999093530301,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.389042470937987,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008120357990264893,
+            "max_z_decrease": 0.008120357990264893,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035094159987134825,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008120357990264893,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021140376853920527,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008120357990264893,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008120396854194502,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1410844922065735,
+              -0.4217929542064666,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1410844922065735,
+              -0.4217929542064666,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14001569125313215,
+              -0.42367862702021597,
+              0.8037141871143247
+            ],
+            "closest_button": [
+              0.14110350608825684,
+              -0.421776533126831,
+              0.7686884999275208
+            ],
+            "closest_ee_minus_button": [
+              -0.0010878148351246841,
+              -0.0019020938933849707,
+              0.03502568718680399
+            ],
+            "button_min_z_position": [
+              0.14110350608825684,
+              -0.421776533126831,
+              0.7686884999275208
+            ],
+            "min_active_finger_to_button": 0.1465146669637823,
+            "closest_active_finger": [
+              -0.0005161911249160767,
+              -0.406130850315094,
+              0.8108658194541931
+            ],
+            "closest_active_finger_button": [
+              0.1410837471485138,
+              -0.4217942059040069,
+              0.7766508460044861
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14159993827342987,
+              0.01566335558891291,
+              0.03421497344970703
+            ],
+            "min_contact_pad_to_button": 0.021140376853920527,
+            "closest_contact_pad": [
+              0.14110350608825684,
+              -0.42498453030057537,
+              0.7895840565762207
+            ],
+            "closest_contact_pad_button": [
+              0.14110350608825684,
+              -0.421776533126831,
+              0.7686884999275208
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00320799717374437,
+              0.02089555664869991
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a6cedbaa9b83baa7ee428ab7cb8ed830124e6fd7cb945b21da3cb74d2706928",
+    "visual_seed": 3813855353341077506,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f93747634052ef5a891f328fbf3b800c728fc377
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/episode_9_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22335141372216233,
+              -0.050594053378980534,
+              1.16139180759238
+            ],
+            "current_z": 1.16139180759238,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30480530018381435,
+            "gripper_z": 1.1549853776363501,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21876827445012456,
+              -0.055204732954440436,
+              1.1549853776363501
+            ],
+            "object_minus_gripper": [
+              0.004583139272037767,
+              0.004610679575459901,
+              0.006406429956029802
+            ],
+            "object_to_gripper_xy": 0.00650104081931947,
+            "object_to_gripper_z": 0.006406429956029802,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22335141372216233,
+              -0.07405822114648415,
+              1.16139180759238
+            ],
+            "finger_b": [
+              0.2127268529516143,
+              -0.050594053378980534,
+              1.16139180759238
+            ],
+            "finger_midpoint": [
+              0.21803913333688832,
+              -0.06232613726273234,
+              1.16139180759238
+            ],
+            "object_minus_finger_midpoint": [
+              0.00531228038527401,
+              0.011732083883751805,
+              0.0
+            ],
+            "finger_gap": 0.025757493290082086,
+            "fingertip_max_gap": 0.09297406945125808,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01287874664504104,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16139180759238,
+            "object_top_z": 1.2072729929342243,
+            "finger_top_clearance": 0.04588118534184438,
+            "fingertip_min_top_clearance": 0.013764355602553346,
+            "object_projection_between_fingers": 0.8298567284835998,
+            "object_to_finger_line_xy": 0.009678600070611993,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04898703472562904,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8737080118035851,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2917053265479118,
+              -0.3617138866023468,
+              0.8470195162519145
+            ],
+            "target_position": [
+              0.2846273776748405,
+              -0.3623497628069504,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007106454727738219,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18460496703306495,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195162519145,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572850078248923,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08723082352810306,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217357520405964,
+            "release_required_pad_clearance": 0.05361541176405153,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2409479899328337,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008032441139221191,
+            "max_z_decrease": 0.008032441139221191,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517594613830855,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008032441139221191,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021104647260899036,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008032441139221191,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008032465660606804,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14032730460166926,
+              -0.4186112284660339,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14032730460166926,
+              -0.4186112284660339,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14202334557162843,
+              -0.41918206661561463,
+              0.8080886845368247
+            ],
+            "closest_button": [
+              0.14031736552715296,
+              -0.41861206293106074,
+              0.7729587554931641
+            ],
+            "closest_ee_minus_button": [
+              0.0017059800444754747,
+              -0.0005700036845538992,
+              0.035129929043660635
+            ],
+            "button_min_z_position": [
+              0.14030772447586057,
+              -0.4186079800128937,
+              0.7687764167785645
+            ],
+            "min_active_finger_to_button": 0.1444594729887384,
+            "closest_active_finger": [
+              0.0008585155010223389,
+              -0.4029881954193115,
+              0.8105158805847168
+            ],
+            "closest_active_finger_button": [
+              0.1403263062238693,
+              -0.4186112582683563,
+              0.776263952255249
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13946779072284696,
+              0.0156230628490448,
+              0.03425192832946777
+            ],
+            "min_contact_pad_to_button": 0.021104647260899036,
+            "closest_contact_pad": [
+              0.14030772447586057,
+              -0.4202605715615027,
+              0.7898162617680229
+            ],
+            "closest_contact_pad_button": [
+              0.14030772447586057,
+              -0.4186079800128937,
+              0.7687764167785645
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016525915486090281,
+              0.021039844989458434
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "9a8f892a60d1200ec9a6c8b003b5d60f99b2afe60ec2c41f6fe65bad77ab6ca9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44f977eeb13454d0cdf55c6b9ad740a39aa052f400c678486bc66694e5e02149",
+    "visual_seed": 4118907672554757308,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "2b20dfab2e153f06c60afebb397d124662eefd6726b777f26baec5a03088e449"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..23713b173ca5b6c80218f9f34609bfd5d29e964c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00006/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s03_plr_htd_00006",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cb733ea358a5722ce10b3e0c0dd49a2bb5ddb3e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a528802bb94df7d45aaba03ae3713cffede5f4cc6f8210fc9c99a189daba654b
+size 4834197
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9dfd6151de688c883c23c6b94221b250fea1c3c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:960526a4dffd881ac5a7a68f0039f2cd6177f6a8ed6bb869f93923897acb5224
+size 3723002
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aa8cf630668fdf823b90008cbdeccd1fd18fa2d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c62f5f8c60b94e46a51f438374baf93ebfcd2194a8278efd095281846e448140
+size 4983703
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..70e3cbff5ea15a6b10878cc250167e15129c6b1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc7938abacfa5356d7c3a8ada3bd35c2fefdb53748f430594113e571fa503e9
+size 5355831
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..121cb7e8cad211099720d3d6bf97f2e795166031
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7db4ab6673451e8519e50eef6a3ddf7d300b6f2be1302432f5803b713c7e462
+size 4645041
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a21caa1131ffd8a72511a351d6d02615b2d2ddac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb5bbafd7e73448942edacd3ebd1e3cf1b4039383ff5589360cfe5175bf3efbd
+size 4889706
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3e03191d49629a71b1b5ff4c69217cb2694fcd21
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1afd7a45ced5212e22dc766e1918544cf50be31109e16ae80bbac638d8b395d1
+size 6757145
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a58f05dce61cb850ca6810c3e8e32e7af467a548
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cfde08e96fbc4376a4b1fe4037cc414e78d1ed3f181a76d35055df29a442a18
+size 4834416
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..be732eee3b99f19621ce546ccdf99613a2318288
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f117e9b80cf17d63c4f79d43787f242c8209df85545dbf57ef8a5001c0530c2e
+size 5051324
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e9f968d227dc7b08b48eb1675d57295e5f0804c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b39d068a375b8d6cc245cd7da99b411a32c4598fc083883eb3823a78cb169253
+size 5687247
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1ca1c6e95f5d83fa0fb6da2932e2d3dbdcab9b09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:718186cb8c1cef01f93ca9fc6ebe5f20e1e7f0980f2e0cb0df403715d7726615
+size 7570389
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..787c4764319b02d3c9c40794ae00a663982d4159
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecac90e5eb00355cc0a923a5a0c93304a8c6b3a00582ba9d6166e0669e086828
+size 5019961
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29df6d85825feed0552ce3a40ee622af20f15a7d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87395fabfd04758de39777613dfa2b218f9100fa6e4f2706d39bb1bb545d6c73
+size 6300771
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f70de2c486adc7e4e2d8dd4c29b6d04b6f9dcea0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:989466274c412aaf12875e4c10249fb96dce42b9cc5c217fcbd2646183520779
+size 5427076
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5666e1d15472fe01c2a68e60cf542ebf0394c0d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fdee4c43393f5f54cdd10f4bd0b3fe5156b569428be8fb8da2c99c8d66cf9ec
+size 6805938
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d577b1607cb834ed92f20deed21f6deca082dbcd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4eff9cbf3af1ae974c6c30848307fbcaa04d352a09c0bc632770441855dd980
+size 5741646
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3e7fd709cfb602f26f197ad232c9798529fcaa2e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c427d2ff6d468f73f8a35d485dc9b88bddac2d9044e8a304b0a423b1c8acfbb
+size 5689177
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6d792741774f943e41c5ab8081e3ecd06d67ba4b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a47102bab02e24ac9ea1d845c9c2cdcf7605955d98d71559154c2992675153fb
+size 5465062
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..14479a266bdb3205295acc48f1599df4ff84ef50
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1882be37e09cbe93bc2a42f6eb7db43f333abb1eebd905e819b9ff09a801e872
+size 5596430
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2612bd9a7f48bcda272f887974bf6eb8915fedc5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1afd8fb92bbbc834a2c9383d5873c337fff666c00447e1b834b6c620b8ad16fa
+size 6351019
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eb502270780e43740bbecb1dcd4f41504ac542db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b06a9b4471209e9ed7e952c886e0125e80c5dd8cf57d58a8f0952e8a5af3050a
+size 4935540
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2ba81578dae2fe59f5465e5398a7e92e1f4b04c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ac1bb2691f2a7ae7c7a1a5bc2d2e4387a7a536fc76d400cb2a2612e37cdd69a
+size 4378444
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c0bd7b9e940025ba7449dc45fe8f8b35e48dc27d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006b3a173c8c767f9752cccdb773f60a2f7db38802d95ea31d65ecff0f78cef9
+size 4511623
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2f475a3fbcb30d55e0ee3e57cf8a12b6f2b0a37f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca583a2ef787f5125aca465c06dcfb8c90f494381db1215e438d3f1bba5aff74
+size 4475944
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..725e58fd28ef8c4b3822b81c059f3c3f7ecb1782
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a5e92fe2da3f34c01aa545b98650bb08c2a763cd56c5dafa75f2eb35e2981f
+size 4552105
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6104620e9ac8a131894018b95d6b15dcfb677df2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa2894f6e5d09e0f1dd2d7af18e9a1a73d5156fc8b8503aca1e4da04f0fb76a
+size 4307896
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f641c5d2214b6dfc43db6944abb16a62551392c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8931942fb6de00b82efde6f50a775361d0d1c8304e4e109aeb7a13fdd7ad0be
+size 5188894
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e7a0ab2321f10b373fbb78f2da72c66c8c1eab9b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038bede12d414eacf42939842627ce9ff5dbe3937228221c3b839d5714e36906
+size 5731583
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..597d282cfb45c5a4282f5c56b7caeaf22b814230
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d620ff4f55993af77ebd65079b0a0e71865fbde80461ebe7264537c8d56e031
+size 4478929
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc28822f669affa5736cb24f7b090f0ea6af538d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b9ade6e7155e341581440dde2296deeed4bda609dd9cf2c57d5138f33a1df4
+size 4365847
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f8bcc8ba85b5d26539b3b55449d1aa2b3562e52
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3455bea7a6bab8850a4f856c0b0bbf8cfd7c243bd1b1e6da49d9949f2b71734
+size 4011474
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7635abf83ef6a7a7ded827bb657eed36e6976729
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e432b309799f3984f681e30afebe0f5b04d694cf667183fdac337b20e59d3227
+size 6025681
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af933137ced696a07a765143b92a3603ed415402
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12cfe3383e00b3dbdae65758cb9c307495f5cd5fe7842c73598b01b1dc37e424
+size 6394665
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ea8e40e273d9ff019608cc2cdb9cdf5f47a8a9c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b1ff3eb28d4ec3a60c624cc07b042c87bc9faedc0a431ac21f4450e9794ec72
+size 4679329
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..968799f3b3905c976523a5d45fcdf6f5f017281b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b9b65a38e9b2e7db5045221a4f3b73edf0d6876f1c776ff807c40e65f564bc
+size 7201030
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6c558371279a9eb53e28b824ab148241436ec4ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f84a36aa1882f260e7134f46333cdacbc2d8dfa3eab8641839d46f4aefbe80db
+size 5354278
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ff607f2235f1cbad8d7e0fb845aa1373d053f676
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13932e63e23d910a49abb11ba7033ece65b3e8cc6e36d577196a41f0ac2185d8
+size 6069769
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..94ebe117c2d2d939b96739f49d998275763012bd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e1f92098759296e04004eb045ccabe3642b249b1d325aaad7575d0c4ae3a10b
+size 4217191
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..74d723dc7effd457efe398ac9bddc460466816ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6ff2f7364d43c12a18e023e6cb7a0bc53f620ec6f3de2354dd60c08addc900
+size 6137242
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f4985781c0740b3b2a82aa5efdad247b008dd35d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ee426cb8c15d957b6b9a6954af4de49a6e84990d57c46b4bcde70a5b8f3ae47
+size 4788150
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..abb0b21456420198f9733a079f4576f017239de8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b5dc0e50c1b2f308c52c66765689251a40c4eef2d270cef0d6deb4725345a8c
+size 4732636
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2af18c397a1fcba69172a778a81270452105bdd4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3e58a988eacc0cd7b3cfe471a01f8c25882197d9176fced23a4157da2b19b2
+size 4539544
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3dca5a21482388584ecc405766ae7ef06927c8cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b17deb499fa40a181a76d4d07d5b8cf7a24f26e2e2d6cc46bb4a04a68a137fe9
+size 4444927
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..42b3a8be9c20068f3609805b1d7ffcfab5843080
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7eb37e9292919edb19783d12caa376e11f77fb990ff20007c724fcd92bc10e9
+size 7049078
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..57be49d83e0a99146bd98861a4a2b70251299e59
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d94ed90214b0892f6f3e45403c33bb936d19e4a4bdcf7214e5b0dd20e080e316
+size 4812955
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d57e11ac7d95883ce39423b227c51c523c6b676d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1196d9488ade604d0232e369af6b418979294b65f25d8c8ff1a717d89c75a0a5
+size 4869652
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c3c2187cfcdc34eed53aeda471ec0f1f7f99ebc5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:654e293c301d19ee1fe3d792a7e8369d9843be91765047cb19635de9af05a1b0
+size 5942616
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7a397f28444d32985e2d602399076229f1f9581e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9536d0fd9e137f868a09a5c0270085104b1b4d85eaf94ae10c615c412c5e9c0
+size 6317103
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..57d29cbaf9cf8cbeb84f2f4f814874497cb9908d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93b0271bb38c71d3645e1f99d2612b9918d468c2ff033af90f000e64d6424d09
+size 5533270
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d0a3b487798607eecf410a733ff2f2ff11ff2079
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b873acd8d268a3e1ffa25cdd94eecaaabc01ee149a2202b0e40177a4fed9fb99
+size 4511140
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5544632df23e3e4889b42b5d7e896c838143c019
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:099c9f452e77095cc9c21f66c84e1e1d64c98beb0e5ee2284fe7c9b55caaae9b
+size 4930633
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e87e684cd4d979bcdb40c37cec2221f71e7491d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecadcb16d76b5d9ac616aae09e9451364ccb69c9124103d8f6a756d0d80db11c
+size 4229738
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eb90c0c8b5fa0be95938504b7531663d62bbdbfd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e74075f5c74418ab3efb7cb694fd14ce9f388101216a7b8dd6ea7a0fafbc99aa
+size 5122476
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e077c801521647e4afa72a4513c5c54bb51a8151
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efba1c53da62c1b9ce93b525844abf1d6956e8a877ec0929a016018bd3b0e5a8
+size 5403580
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ac01c2c739ceb16bc71a108f1a5d9fdfb1e34965
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aabc4165998c3d0fcf52e6381804c1fbd014bd8ac89e18d49e2f8fc13ad33015
+size 5838104
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5807b9ed603d7f8959ada5079f6bc53c69f24b93
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b23ff5987b5d3fa2b1967f28e15b7c210296910c8b39deb4ef483fb92ad273c7
+size 5628724
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a64b57ed4e570bcd9ab303e4a185e620916a8806
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67c217621ba5d54eb9a7ed81adb29ed0567895c835896e9273ee1bef3df6d701
+size 5127329
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6eb6115346dc28a7020d0f6e8e8f2a1140c1d0b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f06a083d546c7ad98f7f9b18f0686480b96756ac47b050c2c5fdcebcc4b2ac45
+size 5168026
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..66dbbdf1193cc256765953688c3c4e5c418f7943
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe07a7ca0c58548e92f7e3e90a6740deb6bfe7d9d8f7083cd86392fe2202082d
+size 4678820
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4486e50b8415aa196ab54899565de62759d4c554
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24b980f336bdc3d77f4bb9818200ce9c3cf59201892f2e83ac4cac075682c9db
+size 5518331
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ae3c4c8df4dc01103c96795136cdcdf371ce7bb4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b37714a742d30d0aa07e20cb8bf0371603fcf8fe6fc856195d380c0d85cd08ce
+size 4918520
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c534cfa1e1ee211f21054f28759d4a59b1ecc664
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44de937a321ff7e974f5b1b915ecc8296fbe51f9ea924ac82cdba93d7faddc28
+size 5021848
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6677fd2041cd55d4892a32ce073d65f1e47977c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecc3e4320a6fbb2b25113f2cbe34adfd670552234c0b85cb2db8799ba16674a8
+size 4832362
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c2a1f35e66f2ccd58dcfcbef8bac836e4ee37f1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7bfa1115b24892f86067ee1ad7496702a2dc281bdddac1cf9df825b29210384
+size 4729898
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af9d7c2cbff64557f94201dad89b262b4ed06378
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e6d1e5393e95f45f73ae177b0ed44d6ea320f82bd88ce3f6122fc19319c3c2b
+size 4942738
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..611f2e51f2d1aa7df51f91ee7b6be5dcb2e4207f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:426940ea15537d0aa4688979cb4535dea45599915047d335c468ea0e28aa2555
+size 4853231
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6653a7a437936e05dee7e9f64074edd8e53204db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec48f02c16f22e665dd9136d332b482114ac6dd2c76e4074e4db0316fb247c24
+size 5578694
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6b937f97b0a208c2d6d0e51bab6b61b239cc94f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96978620e6a090ac53cf09f677b53482c16797b795cc43b9567542f37244f137
+size 4595249
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..152c85abaf1b075bb770740ef30815a4f8abe564
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf5f74518994d1e99a46b3bc7f4205a7f9285a396ce67e250c7c0afa0019cf69
+size 5088158
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..06fc2bed1961bf631af99751a052ff2bad7e9777
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9d721641b84b3cc5b76d5eaca643327664cada30e423fb74812a460d2a3a569
+size 5063499
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fdd82bd920b48cc908e1518c2007279a9d57e2d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b5fd8d13efadc0f5177c4c26abc64290ccbdf524927af17ce4a2ac20d4b6e14
+size 5833441
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..64bafe1e37b4630cb0655e82f68689dbed066aeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7836f33789d73c67d165bbb9c32bac37b64b9f8070f952be0c6f484fc8c6bfba
+size 5241541
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d412eb572a2deadb4459eb860abf45c97673aa26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f89f1b8e6e3f66b3b785b83fdbe8357510d795aba5c8f1725eb3e2baafe416b9
+size 5714501
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e4198dc49b5cab972e1f23b65e41ac33b72fb592
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c97f44e97cbf0feccb6c3f10edc3d4625d1ea33b6fd1c920191aa188cdfd6e03
+size 5945774
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..87e451c0b146d4fe0df44698ff8c18d170a06fbc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f250b799978cdafdb68fd70f29e8ecf0e4ea1efcb53458567c3035c7506b94f
+size 5612053
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2998900c9af2e92384c203ba6c37287aae673230
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e60d6e9bf001d088e01260cb3d49a7557306322b1485f45d482c0624c7b6b7
+size 5517212
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aae086d4f230b4d56208b3a4e77ca32a017dcb41
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84d2790dc7e5a2db5f191e59d4fd5b96aa1ec6e6c1088b035c0f128415ad56d9
+size 4722172
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a0b2eb27fee9b5d453b1b8fbf7e948dbe6a5591a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4b2b565dc53135bb5143e1726760666d12553394b5446a9ffd7a12b9177ea69
+size 4195483
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a59af3f6dde14be7511a4fb53a93d76ea83acd36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc91ce78d8410dc31cb234c212c4f237e973239e4c15dca3d6b99e2e57573b89
+size 5109362
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..22f65af372293c4852643690533dde93056efd06
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc0a945a8b198d62588e97c05895ae97e31d747c66b76ff8c3f7771fb7919b78
+size 5772496
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25a103863bfd42e426adbd4eb842e64f4e81092f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:200752405ed68af4f7ccedecc4cdf2db361001ba710928991eeb77f88e5a5c3f
+size 5210028
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..812921ec115161dad51554f40a7c03e4f162e146
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e68de31a9f4d9bce0e2bd87e6cb852b62976ed4c73931f529649d54599e12dbe
+size 4690718
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..86a5e0fc92c44501ade77a5e8180e530e0f1fbc5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f40783a68cd1e195cd71c0376daaefcfbed69fda0378a366232ecca93284e7e
+size 4615396
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fb4da5b88355d03d0a1cb11593857403c1f56579
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11f27499c18f85b8d1e785832798fa94d95e1958a0274692cd6699d3ffea9559
+size 4617932
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e41143860f33ca5e7289b2307f088212076158b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22f29199995020b451d2f7c5c399ed27cb58fb357c62228de928b6348ee4b685
+size 5170399
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..49d39279d31a85bc6ee954ad8bddc268834d875c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bd9c2bf39f787faf7056fb75b6a87dad262c5fe0e3ec4c87c749003623e2fae
+size 6303892
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c20971b7185005f7e2bb7f7fd8b1e123e27d3f4e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:288404e241177558b754a07f5dfd58719be581ac4508abf101ff630a711959ec
+size 4618584
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4dbbb8a8a079da55edd55ee0c9b4b46ffeeaec7e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f065fd560a194fbbe3d3b721da4dd87174793407cdd7ab942cad910aeb16a7ae
+size 6450074
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bca11567758215a8ecde709f7f10a79ebd17234c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ee6a0a74df3350ede53aa914d8ade333b2cbcf1904ba6693a1919081b3d5098
+size 4733217
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9068ccc61083eae5290b9ee1a32acc40ec273c72
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d46c240286f3331960aad8412d8e163b5f099a79eb0153ce82ac365c3e03d1ae
+size 4978155
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9f99fcd87ff69e5ef7c83a1bacebf40cacc539d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dad33db67a1e1b8dfac9af21d9635a4d8bf05cb73a85b225cca9ea309f07b26
+size 5119850
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..318fb094fd4b6d287c026341158311757d20b16a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e03cfcbdb089e1966e54121b11e406f746e22111ff447f369ee4e5649344e1b9
+size 4452067
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8bda78880e722b2f8d8db679b708e51281eb38a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b8294388389e0daa54ca72de2b4d0ceb14e4eeb9c411aa875007e70204b6f9e
+size 5895808
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..27532f579d72f6b8213af011ff8fc614cfb1070b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55fe35b67859f39d1b9a38a4f6bdd5494c948aacede7bbb723617af32216a82d
+size 5446533
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8f6e5ef5a2905d3d3343f6fc204efc99aa42f06b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d136545fd4d399dbe35a9855308d07a6f1850cfa9434f1b1ce9fd7bb4f979cc9
+size 4601563
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3a7e2b7b80a637b9de6c971736d7f8a03c2cbfaf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60236e4007559ea74aee88e8969f8ce905e2afadba20582227caee5cf99b09e8
+size 5124248
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f335633b1bb5e6c24a923e7766e3d74c05a7b7c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180950542dc5cd7bb27244013ef8ea3deaee5e747d7a8cee8fb57ba5aeb797bd
+size 5980164
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..05fb71029fb20fc2cb44c11813655b90c39d0082
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f2eb87a1659f9d9644979f1c2007563f4374f39192909da3a010639157a2b1
+size 4580520
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b2250d7a125ce4da812cb37a1e05cdcaf9e95435
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:299a7486be7c38596e6d48df6cf9055e2f5f0d93c07f97c7491b10fa067e04c5
+size 4974335
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..405c200728991c987b5d0c2317fc3334fa1b6631
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7b369820c805ecb0f8a119f07dd3759ee0ede460da5336cf4d5be87bf9cf17c
+size 5195387
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..06e670a97cf6645959c406058d190754df32535d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1016,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1003,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":998,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":995,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1019,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1022,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1025,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1026,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1021,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1023,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1004,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1019,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1033,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":992,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1006,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":999,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1017,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1016,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1020,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1030,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1028,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1023,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1013,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1028,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1005,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1013,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1013,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1002,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1007,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1030,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1027,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1031,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1004,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1024,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1013,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":997,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1002,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":997,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1015,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1029,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1008,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1009,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":993,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1014,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1013,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":990,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1016,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1017,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1018,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1020,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1004,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1006,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1009,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1017,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1029,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1028,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1024,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1025,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1024,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1001,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1005,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":991,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1025,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":998,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1030,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1013,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1031,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1008,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1027,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":998,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":995,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1024,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":990,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1025,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":994,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":996,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1026,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1023,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1024,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":998,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1018,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1020,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1023,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1016,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":999,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1028,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1007,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1018,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":998,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1010,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1017,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1023,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":999,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1020,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1009,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1010,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1029,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":997,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":998,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1022,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c76666365ba33838b010c192900723bfee60cc1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-04T06:42:20","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.247976373495281,-1.768121934393537,0.71338606911949],"aabb_xy":[[-0.3179763750975605,-1.7815547275951948],[-0.1779763718930015,-1.7546891411918797]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[0.09018235409519859,1.5588751707886819,0.71338606911949],"aabb_xy":[[0.055591271241153366,1.4938751705036506],[0.1247734369492438,1.6238751710737127]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.4307925427230159,-0.8629897122975576,0.71338606911949],"aabb_xy":[[-0.4382049982644044,-0.8688409227191854],[-0.42338008718162745,-0.8571385018759295]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[0.04825737130385166,-2.312469576529386,0.71338606911949],"aabb_xy":[[0.010757371486818094,-2.317107787840528],[0.08575737112088522,-2.3078313652182443]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[0.4956856123304445,0.7921208693112121,0.71338606911949],"aabb_xy":[[0.411963386830362,0.7021208657765161],[0.579407837830527,0.882120872845908]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[0.4366239268359453,-1.1317111637677335,0.71338606911949],"aabb_xy":[[0.3566239235719322,-1.1452711960766468],[0.5166239300999584,-1.1181511314588202]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.29014130176794817,-1.8767907799530947,0.71338606911949],"aabb_xy":[[0.2001412994339291,-1.9542731345382076],[0.3801413041019672,-1.7993084253679823]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.669218329353425,0.1936768609858346,0.71338606911949],"aabb_xy":[[-0.6779995565006612,0.18489711369730447],[-0.6604371022061889,0.2024566082743648]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.37862568209524683,0.4847637345718785,0.71338606911949],"aabb_xy":[[-0.3961723770113657,0.4472637330076273],[-0.36107898717912784,0.5222637361361298]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[-0.37656806460747466,1.58850506755449,0.71338606911949],"aabb_xy":[[-0.39545244837598487,1.5696191427741373],[-0.35768368083896446,1.6073909923348428]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[-0.27045017317751585,-1.9122532530462424,0.71338606911949],"aabb_xy":[[-0.2769518096855205,-1.9220210750725526],[-0.2639485366695113,-1.902485431019933]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[0.533533520515292,-1.3833059691257024,0.71338606911949],"aabb_xy":[[0.5295730367455577,-1.3909738337112232],[0.5374940042850264,-1.375638104540182]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[-0.45542917175389525,-2.266485710474779,0.71338606911949],"aabb_xy":[[-0.4686601172885765,-2.2797131294967774],[-0.4421982262192139,-2.2532582914527786]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.5591878784795208,0.17141356482891812,0.71338606911949],"aabb_xy":[[-0.5743600477611541,0.15624470790071476],[-0.5440157091978874,0.18658242175712147]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.36633940647181484,-1.2291234963805695,0.71338606911949],"aabb_xy":[[0.3013394083158958,-1.2554197409304817],[0.4313394046277339,-1.2028272518306573]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[0.6230653992080866,1.0578885649766363,0.71338606911949],"aabb_xy":[[0.6111933161965855,0.972888565282986],[0.6349374822195877,1.1428885646702867]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[-0.3220920066063238,-0.3153994240717837,0.71338606911949],"aabb_xy":[[-0.3376477760165891,-0.33094985731619087],[-0.30653623719605855,-0.2998489908273765]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.2541977103523446,-1.5481589457662928,0.71338606911949],"aabb_xy":[[0.24617143972171862,-1.5569104407436454],[0.2622239809829706,-1.5394074507889401]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[0.0779973157170809,1.2710849155183848,0.71338606911949],"aabb_xy":[[0.06049738228309752,1.25358491559815],[0.09549724915106426,1.288584915438619]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.6974465329730379,0.9597853667844052,0.71338606911949],"aabb_xy":[[0.6797709023844395,0.9421051505050024],[0.7151221635616362,0.9774655830638079]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[0.03862512839092225,-1.673520160565185,0.71338606911949],"aabb_xy":[[-0.01137487262821302,-1.7099863763030132],[0.08862512941005753,-1.6370539448273573]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[-0.6146988746363573,-0.04213531661837644,0.71338606911949],"aabb_xy":[[-0.6607839658910887,-0.10613531387093154],[-0.5686137833816257,0.021864680634178676]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[0.23133094336989612,0.6527342428668663,0.71338606911949],"aabb_xy":[[0.17633546554923674,0.5977342414329594],[0.2863264211905555,0.7077342443007733]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[0.5982633052667923,1.7659439753575472,0.71338606911949],"aabb_xy":[[0.5658016043848647,1.7358111432426442],[0.6307250061487196,1.7960768074724494]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.6387368565563367,-1.8476712878395314,0.71338606911949],"aabb_xy":[[0.5747368532666285,-1.8910062068434488],[0.7027368598460447,-1.8043363688356135]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[-0.5944470741659511,-1.3566361639293334,0.71338606911949],"aabb_xy":[[-0.6444463493343874,-1.4066361652052808],[-0.544447798997515,-1.3066361626533864]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[0.5551166703685795,-0.7088573049871889,0.71338606911949],"aabb_xy":[[0.5322009574835296,-0.7317616021236125],[0.5780323832536294,-0.6859530078507655]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[-0.20397133394328076,1.4187199736176912,0.71338606911949],"aabb_xy":[[-0.2119648237385628,1.4107218416772158],[-0.19597784414799874,1.426718105558167]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_28","position":[-0.14883099816817302,1.5972435162838958,0.71338606911949],"aabb_xy":[[-0.1863309993529658,1.5928252935878349],[-0.11133099698338021,1.601661738979956]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6535228757326426,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5201.png","name":"5201"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/303.png","name":"303"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5937.png","name":"5937"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5255.png","name":"5255"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":554.368238064223,"rotation_z_degrees":178.69853898646485,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008252984194920873,-0.01796468250477701,-0.015128552528897377]},{"name":"camera_2","offset_m":[-0.0033188298948989975,-0.012518162969390923,0.010855141462752231]},{"name":"camera_3","offset_m":[-0.014810841658256808,-0.01959881794117839,-0.01588338746825267]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007729104146525548,0.0006593594722712919,0.0016883869925223465],"end_effector_yaw_offset_degrees":0.03833781801743852},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005284155630128876,0.0013665042461276557,-0.0014983806675910407],"end_effector_yaw_offset_degrees":0.172817648974533},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001334709346251281,0.00196246536111755,0.0011149086932903756],"end_effector_yaw_offset_degrees":-0.9427693285718943}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003220657642977809,0.0031961266852118557],"position_m":[0.2001206576429778,0.3108961266852118,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002980466358301327,0.0038640744412905123],"position_m":[0.24081953364169867,-0.3303359255587095,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004501303680845015,-0.0006835251005647856],"position_m":[0.295501303680845,-0.07768352510056478,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005753120530560315,0.004953416470766576],"position_m":[0.33117531205305606,0.08585341647076658,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f651ec5a915dcd37fd5dd377783ea6df2108590915f31bb816f84dabd826cdfc","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0000.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_226/tex_ceiling_textures_5255/tex_floor_textures_5937/tex_table_textures_5201/tex_wall_textures_303","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2336116202807935572,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2336116202807935572,"visual_seed":2336116202807935572,"scene_id":"lab_003","finished_at":"2026-09-04T06:45:23"}
+{"episode_id":"ep_000001","started_at":"2026-09-04T06:45:28","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.12340955814497467,1.5292881224242767,0.71338606911949],"aabb_xy":[[-0.18840956078276816,1.4778085237248297],[-0.058409555507181174,1.5807677211237237]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.16026082011617282,0.7185800391834363,0.71338606911949],"aabb_xy":[[0.1102658091567208,0.6685800401478446],[0.21025583107562487,0.7685800382190281]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[0.5576018923169899,0.6121171357810202,0.71338606911949],"aabb_xy":[[0.5474488767628403,0.5760475942082797],[0.567754907871139,0.6481866773537603]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.24240117072760214,-2.5123484069874715,0.71338606911949],"aabb_xy":[[0.20490117037937436,-2.524139802568555],[0.2799011710758299,-2.500557011406388]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.44776154849602534,1.103390903379716,0.71338606911949],"aabb_xy":[[-0.5027615481177712,1.0484072105922433],[-0.39276154887427955,1.1583745961671887]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[0.17398589857938096,1.1295521943845386,0.71338606911949],"aabb_xy":[[0.1396889875616403,1.095255308174597],[0.20828280959712156,1.1638490805944797]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.21384361604205676,0.9538614782317074,0.71338606911949],"aabb_xy":[[-0.24499053488563985,0.8838614795449002],[-0.18269669719847362,1.0238614769185146]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.3237842852080708,1.5295878055921848,0.71338606911949],"aabb_xy":[[0.30128428519792255,1.5154915859525815],[0.34628428521821913,1.543684025231788]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.6083995934601847,-1.8369999892625293,0.71338606911949],"aabb_xy":[[0.5698539006349838,-1.8755457603187178],[0.6469452862853858,-1.7984542182063403]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[0.5922834150249312,-2.3627040056004813,0.71338606911949],"aabb_xy":[[0.5472908283064807,-2.40770400487493],[0.6372760017433815,-2.3177040063260326]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[0.4173944848655351,-0.29611079119437145,0.71338606911949],"aabb_xy":[[0.4094009950702531,-0.30410892313484716],[0.4253879746608172,-0.28811265925389584]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.6203218816148154,-2.5112294743178483,0.71338606911949],"aabb_xy":[[-0.6264165095029338,-2.519798868869517],[-0.6142272537266972,-2.5026600797661795]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[0.4263040222314931,-1.7382277563140125,0.71338606911949],"aabb_xy":[[0.39282485497045216,-1.7717068696851197],[0.45978318949253405,-1.7047486429429057]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[0.439351803025968,-0.8762207527740178,0.71338606911949],"aabb_xy":[[0.4043518038960123,-0.8819659738496818],[0.4743518021559236,-0.8704755316983536]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[-0.16031294486946768,-0.6971178787902856,0.71338606911949],"aabb_xy":[[-0.2403129481334808,-0.710677911099199],[-0.08031294160545455,-0.6835578464813723]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.22980621601914858,1.673458049269621,0.71338606911949],"aabb_xy":[[-0.2938062162931268,1.623391949072333],[-0.16580621574517035,1.723524149466909]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.4886818889952826,-1.7301519272199093,0.71338606911949],"aabb_xy":[[-0.5526818882894509,-1.7941380675887635],[-0.42468188970111437,-1.666165786851055]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.23456379979315256,-0.9934588301333236,0.71338606911949],"aabb_xy":[[-0.25706293551937953,-1.0159588309115866],[-0.21206466406692556,-0.9709588293550605]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.3498994557243289,1.0248109752625054,0.71338606911949],"aabb_xy":[[0.3279907735849778,1.0029103084424145],[0.3718081378636799,1.046711642082596]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.679276650995023,0.9842225688993804,0.71338606911949],"aabb_xy":[[0.6666739518579465,0.971627172674515],[0.6918793501320994,0.996817965124246]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.5273184574828738,-2.053112296871295,0.71338606911949],"aabb_xy":[[-0.57731773265131,-2.1031122981472423],[-0.4773191823144377,-2.003112295595348]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[-0.32064107383885154,-1.875093883294842,0.71338606911949],"aabb_xy":[[-0.3846410702661735,-1.922263507116939],[-0.2566410774115297,-1.827924259472746]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[0.23616139843884554,0.9414777528985239,0.71338606911949],"aabb_xy":[[0.2170490910808667,0.9223429740212818],[0.2552737057968244,0.9606125317757659]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[-0.19550131898520295,0.6959371857295573,0.71338606911949],"aabb_xy":[[-0.26050131994233017,0.6439889737958516],[-0.13050131802807574,0.7478853976632628]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[0.31160267633343586,-1.830976443420667,0.71338606911949],"aabb_xy":[[0.29339685267218824,-1.8420018440026589],[0.3298084999946836,-1.8199510428386756]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[-0.3048824484148862,-1.2726110749044728,0.71338606911949],"aabb_xy":[[-0.3287186660554913,-1.3626110757129593],[-0.2810462307742812,-1.1826110740959863]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[0.48165921270900136,-0.4107699226729977,0.71338606911949],"aabb_xy":[[0.4176592094192933,-0.4541048416769153],[0.5456592159987095,-0.36743500366908005]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_27","position":[0.33819198897778224,-1.2547134659873556,0.71338606911949],"aabb_xy":[[0.25819198850756636,-1.2630241736017038],[0.4181919894479983,-1.2464027583730073]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_28","position":[-0.17115970590710006,-1.096817113572089,0.71338606911949],"aabb_xy":[[-0.17611572609198128,-1.1193171137742106],[-0.16620368572221889,-1.0743171133699674]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[0.04963104919166483,1.532559138225325,0.71338606911949],"aabb_xy":[[0.04619037295160767,1.528697705250961],[0.05307172543172202,1.5364205711996899]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_30","position":[0.5242492499943447,-1.3542729541761174,0.71338606911949],"aabb_xy":[[0.5144932604851707,-1.364035488235352],[0.5340052395035185,-1.3445104201168832]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_31","position":[-0.4403456289010834,0.08896034891758253,0.71338606911949],"aabb_xy":[[-0.46534562845282185,0.07881786505244781],[-0.4153456293493449,0.09910283278271725]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_32","position":[0.06546214930724892,-1.539508750343428,0.71338606911949],"aabb_xy":[[0.01046667148658953,-1.5945087517773346],[0.1204576271279083,-1.4845087489095208]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_33","position":[0.4484018992178027,-2.37160465233934,0.71338606911949],"aabb_xy":[[0.44190026270979815,-2.3813724743656497],[0.4549035357258074,-2.36183683031303]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_34","position":[-0.6213974032045932,-0.4123972683831947,0.71338606911949],"aabb_xy":[[-0.679027872091864,-0.47239726730990517],[-0.5637669343173223,-0.35239726945648403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6554644358993581,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6822.png","name":"6822"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6822.png","name":"6822"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1098.png","name":"1098"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/749.png","name":"749"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/318.png","name":"318"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7224.png","name":"7224"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":660.785338148736,"rotation_z_degrees":163.59819781207386,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005580392215248368,-0.005608732492314018,-0.005625030634316536]},{"name":"camera_2","offset_m":[0.006215185222800887,-0.01763274487006932,-0.010218873562409159]},{"name":"camera_3","offset_m":[-0.01528527987196604,-0.0037673096076737862,0.01876359762669715]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006606578592419986,-0.00019946736167649132,0.0019487097346308387],"end_effector_yaw_offset_degrees":0.07803415442957129},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001560447908090223,-0.0016961590212601645,-0.000515105842418231],"end_effector_yaw_offset_degrees":0.378106547754816},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00035203153858587473,-0.00045829317469445706,0.00023471853282997683],"end_effector_yaw_offset_degrees":0.2910362832012028}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016258528918844171,-0.004698984658729362],"position_m":[0.19527414710811558,0.3030010153412706,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037588994647559573,-0.001270575573731214],"position_m":[0.24004110053524402,-0.3354705755737312,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012850929502914521,0.0011364940900620221],"position_m":[0.2922850929502914,-0.07586350590993798,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005884304006816866,-0.00019277249395214992],"position_m":[0.3300115695993183,0.08070722750604785,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"316e3d439691441556706ad64b0ca135c3cf6193862d4b196ee81fe6022b4376","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6822/tex_ceiling_textures_7224/tex_floor_textures_318/tex_table_textures_1098/tex_wall_textures_749","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4011101703831844643,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4011101703831844643,"visual_seed":4011101703831844643,"scene_id":"lab_003","finished_at":"2026-09-04T06:48:57"}
+{"episode_id":"ep_000002","started_at":"2026-09-04T06:49:01","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.2903209522919702,-0.0978631603158453,0.71338606911949],"aabb_xy":[[-0.32711558541687646,-0.13476903541242757],[-0.2535263191670639,-0.060957285219263024]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[-0.05518617711298568,0.9474376806062472,0.71338606911949],"aabb_xy":[[-0.06952060223914913,0.9353774650517083],[-0.04085175198682222,0.959497896160786]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.5408897074399112,-1.266229926625019,0.71338606911949],"aabb_xy":[[-0.5524586881868478,-1.2912299267419507],[-0.5293207266929747,-1.2412299265080873]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[-0.613204484658359,-2.163094131443887,0.71338606911949],"aabb_xy":[[-0.6632044863198536,-2.2130925736995892],[-0.5632044829968641,-2.113095689188184]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.5855953213228057,-0.411928590305799,0.71338606911949],"aabb_xy":[[-0.6030953215821423,-0.42602013249457166],[-0.568095321063469,-0.3978370481170264]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.4022095860223416,0.5592815936518982,0.71338606911949],"aabb_xy":[[0.3382095896267685,0.49531830523316456],[0.46620958241791466,0.6232448820706317]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[-0.022115221357161707,0.48930736890886584,0.71338606911949],"aabb_xy":[[-0.03015858128311688,0.4043073678134994],[-0.014071861431206534,0.5743073700042323]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.5681640837679147,-0.9178374000621277,0.71338606911949],"aabb_xy":[[-0.5910797966529646,-0.9407416971985513],[-0.5452483708828648,-0.8949331029257043]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.09015560714551862,0.7135035849343154,0.71338606911949],"aabb_xy":[[-0.11004664702585888,0.7008477736496186],[-0.07026456726517838,0.7261593962190123]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[0.412026009986296,1.4007328947563975,0.71338606911949],"aabb_xy":[[0.40605947104556017,1.3947717500970334],[0.41799254892703175,1.4066940394157617]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[0.39594006139485605,-2.437454405483682,0.71338606911949],"aabb_xy":[[0.3359400608870031,-2.4943011391696026],[0.45594006190270897,-2.3806076717977604]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.4745865378140197,-0.5239921925616602,0.71338606911949],"aabb_xy":[[0.4245865391680985,-0.5739117362211226],[0.5245865364599409,-0.4740726489021978]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.03799972341403368,-2.4720948491257015,0.71338606911949],"aabb_xy":[[-0.09299197404954464,-2.5270948508690148],[0.016992527221477264,-2.4170948473823892]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.07412668935863154,0.7779263209023695,0.71338606911949],"aabb_xy":[[0.024126688998065467,0.7279463336927664],[0.12412668971919759,0.8279063081119723]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.17314794580495274,-0.7237612668170652,0.71338606911949],"aabb_xy":[[-0.2371479443915252,-0.7707682302165739],[-0.10914794721838028,-0.6767543034175565]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[0.6130527665303198,-0.36862997389150154,0.71338606911949],"aabb_xy":[[0.5490527646179776,-0.424541123149512],[0.6770527684426623,-0.3127188246334911]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[0.17710801836267343,-1.965631679767208,0.71338606911949],"aabb_xy":[[0.16769054379281068,-1.975047856904927],[0.18652549293253617,-1.956215502629489]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[-0.48416751432914396,1.3119548459157477,0.71338606911949],"aabb_xy":[[-0.5018431449177422,1.294274629636345],[-0.46649188374054557,1.3296350621951505]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[0.44243777128038686,1.5548575335821577,0.71338606911949],"aabb_xy":[[0.4235533875118767,1.535971608801805],[0.4613221550488971,1.5737434583625105]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[-0.5440606714858575,1.1826968924148709,0.71338606911949],"aabb_xy":[[-0.5690606706514906,1.1757446467095143],[-0.5190606723202243,1.1896491381202274]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[-0.3985265678383378,-2.5111927852071525,0.71338606911949],"aabb_xy":[[-0.46352656599425685,-2.5374890297570647],[-0.3335265696824187,-2.4848965406572403]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[-0.04761373426241011,-1.746096196536183,0.71338606911949],"aabb_xy":[[-0.11161373355657833,-1.810082336905037],[0.016386265031758114,-1.6821100561673286]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[0.6139731089184586,0.24675157392570402,0.71338606911949],"aabb_xy":[[0.5499731082149892,0.20073319145278307],[0.6779731096219279,0.2927699563986251]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[-0.29599801447959573,1.2769506572447558,0.71338606911949],"aabb_xy":[[-0.38099801317167037,1.244964793849877],[-0.2109980157875211,1.3089365206396346]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[0.6813221917478423,-2.2541812897337095,0.71338606911949],"aabb_xy":[[0.6726082226979075,-2.276681290392897],[0.6900361607977765,-2.2316812890745203]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[0.5287303516491946,-0.05264531447521703,0.71338606911949],"aabb_xy":[[0.5037303517166767,-0.059527982696140354],[0.5537303515817125,-0.04576264625429372]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555149897492263,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/564.png","name":"564"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/564.png","name":"564"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8308.png","name":"8308"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7645.png","name":"7645"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/346.png","name":"346"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3679.png","name":"3679"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":843.3046161896715,"rotation_z_degrees":291.559732358809,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010381575815346848,-0.010141116265773164,0.01625502262665655]},{"name":"camera_2","offset_m":[1.3194981012647211e-05,0.019418222816742953,-0.0077318632623870984]},{"name":"camera_3","offset_m":[-0.014158559570953702,-0.012920599627229565,-0.007123701673250986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007378736880628417,0.0011525593740474164,0.0019247967561177763],"end_effector_yaw_offset_degrees":-0.026641716724149944},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001160634865705242,0.00018377819061167087,-0.0015867325600861589],"end_effector_yaw_offset_degrees":-0.5379746331275066},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.665737116857802e-05,9.426264834422934e-06,-0.00021329246007309216],"end_effector_yaw_offset_degrees":-0.5693949083130552}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002353031262360762,0.0009526368696411427],"position_m":[0.19925303126236074,0.3086526368696411,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010232978442437516,0.00326419882398758],"position_m":[0.24277670215575622,-0.3309358011760124,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00478156918570738,-0.000364815684922872],"position_m":[0.2862184308142926,-0.07736481568492287,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002632448312998055,0.0004488866383494817],"position_m":[0.3279675516870019,0.08134888663834948,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"98aaba892a140c2576240887ab15b08b7475bcf61cf477dab2edc7214c80b776","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_564/tex_ceiling_textures_3679/tex_floor_textures_346/tex_table_textures_8308/tex_wall_textures_7645","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7383395691742030788,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7383395691742030788,"visual_seed":7383395691742030788,"scene_id":"lab_003","finished_at":"2026-09-04T06:52:29"}
+{"episode_id":"ep_000003","started_at":"2026-09-04T06:52:32","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[0.22293291837853846,-0.7670187403596924,0.71338606911949],"aabb_xy":[[0.2028745067652982,-0.78708382726885],[0.24299132999177878,-0.7469536534505349]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[0.6841964460611845,-2.2138902531085844,0.71338606911949],"aabb_xy":[[0.6596502304384336,-2.2441391496576215],[0.7087426616839351,-2.1836413565595474]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.1971355301592036,-1.8329849156032565,0.71338606911949],"aabb_xy":[[-0.21463552943729047,-1.8503230156696024],[-0.17963553088111672,-1.8156468155369105]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[-0.26531635245816504,-1.3180057246633359,0.71338606911949],"aabb_xy":[[-0.2693945103652148,-1.3220867049115992],[-0.2612381945511153,-1.3139247444150726]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[0.6292138752372314,-1.1207661730003684,0.71338606911949],"aabb_xy":[[0.6221724242864839,-1.1277929247381628],[0.6362553261879791,-1.113739421262574]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.263256458625467,0.7642979192149699,0.71338606911949],"aabb_xy":[[0.22825646035534702,0.7572237915199816],[0.29825645689558683,0.771372046909958]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.1383932907880755,1.3403918995061188,0.71338606911949],"aabb_xy":[[-0.17542740021613518,1.3060146921724092],[-0.10135918136001576,1.374769106839828]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[-0.057330835297457194,1.1469735398459289,0.71338606911949],"aabb_xy":[[-0.06383247180546181,1.1372057178196193],[-0.05082919878945258,1.1567413618722389]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[0.3540146718380808,0.5763445336588653,0.71338606911949],"aabb_xy":[[0.3118302576772501,0.5123445333816542],[0.39619908599891157,0.6403445339360766]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.08909648644694868,0.5169463768063101,0.71338606911949],"aabb_xy":[[-0.15309648374929508,0.4725799498384534],[-0.02509648914460226,0.5613128037741669]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.4268570972173058,0.3897688333782092,0.71338606911949],"aabb_xy":[[0.4231538358881668,0.38606681506949136],[0.4305603585464446,0.3934708516869271]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[0.52873455781001,0.15976709740553652,0.71338606911949],"aabb_xy":[[0.494958998619317,0.1457286021923715],[0.562510117000703,0.17380559261870154]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[0.346893100529561,1.4737614903657836,0.71338606911949],"aabb_xy":[[0.26689309909943376,1.3942443353531737],[0.42689310195968816,1.5532786453783927]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[-0.5580626846712122,0.8545425109015916,0.71338606911949],"aabb_xy":[[-0.6220626870140137,0.809601659657459],[-0.4940626823284106,0.899483362145724]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.6037617034861418,0.008897060808247925,0.71338606911949],"aabb_xy":[[0.5861288678926141,-0.008725885207375049],[0.6213945390796692,0.026520006823870897]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.1084388408501652,-2.230592961606949,0.71338606911949],"aabb_xy":[[-0.11647517555145002,-2.2386310809113654],[-0.10040250614888034,-2.2225548423025323]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[0.5708642801771013,0.4886034680826734,0.71338606911949],"aabb_xy":[[0.5132338112898304,0.4286034691559627],[0.6284947490643721,0.5486034670093839]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[0.562525690064752,-1.9766096488245712,0.71338606911949],"aabb_xy":[[0.5172470751836027,-2.040609648172755],[0.6078043049459012,-1.9126096494763876]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[0.42018964153524996,-1.306001717707896,0.71338606911949],"aabb_xy":[[0.405026768558313,-1.321167175003015],[0.43535251451218715,-1.2908362604127774]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.19401329800987388,0.33301080168009234,0.71338606911949],"aabb_xy":[[-0.22749246527091482,0.29953168830898536],[-0.16053413074883294,0.3664899150511993]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[-0.17115788992867376,0.7690521699295383,0.71338606911949],"aabb_xy":[[-0.256157888346097,0.6841778744672533],[-0.08615789151125053,0.8539264653918233]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[0.21520546677322505,-1.7033065815779564,0.71338606911949],"aabb_xy":[[0.1512054650952277,-1.7518239730572707],[0.2792054684512224,-1.6547891900986422]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[0.320253485502102,-1.0941847872681976,0.71338606911949],"aabb_xy":[[0.3121398308287249,-1.1022906037222266],[0.3283671401754791,-1.0860789708141685]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.5539956504244246,0.3175076786114097,0.71338606911949],"aabb_xy":[[-0.56269361271514,0.305382704303935],[-0.5452976881337094,0.32963265291888444]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[0.14515320238214013,-0.9551544517075421,0.71338606911949],"aabb_xy":[[0.12223748949709023,-0.9780587488439657],[0.16806891526719003,-0.9322501545711187]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[0.1741516976407791,1.0017078873654857,0.71338606911949],"aabb_xy":[[0.15647606705218076,0.9840276710860826],[0.19182732822937743,1.019388103644888]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[0.5964786282086891,-2.107837618275577,0.71338606911949],"aabb_xy":[[0.5877646591587545,-2.1303376189347643],[0.6051925972586235,-2.085337617616388]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_27","position":[0.3605975397666268,-0.5403745288557111,0.71338606911949],"aabb_xy":[[0.27559754107455214,-0.57236039225059],[0.4455975384587014,-0.5083886654608323]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[0.025096767574184553,0.6276516339456628,0.71338606911949],"aabb_xy":[[-0.05490323040660049,0.6200500929838109],[0.10509676555496959,0.6352531749075148]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_29","position":[-0.2172594497562833,-1.9837421573211125,0.71338606911949],"aabb_xy":[[-0.281259446868389,-2.0327745271155226],[-0.15325945264417762,-1.9347097875267016]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_30","position":[0.052425531748458876,0.7430162218410286,0.71338606911949],"aabb_xy":[[0.017834448894413654,0.6780162215559974],[0.08701661460250408,0.8080162221260595]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_31","position":[-0.5579178768448305,0.7169915530392008,0.71338606911949],"aabb_xy":[[-0.6219178771188087,0.6669254528419128],[-0.4939178765708523,0.7670576532364888]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_32","position":[-0.4557703980058003,-0.23696268674869092,0.71338606911949],"aabb_xy":[[-0.5357703965931198,-0.31627828868685176],[-0.3757703994184809,-0.15764708481053]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_33","position":[-0.17836244168572268,-1.677320389851635,0.71338606911949],"aabb_xy":[[-0.19098922897291903,-1.686866463553208],[-0.16573565439852633,-1.6677743161500622]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_34","position":[0.1620902215518767,-2.4161091679075852,0.71338606911949],"aabb_xy":[[0.13376051160333646,-2.4205699101013023],[0.19041993150041692,-2.411648425713868]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6560644931095957,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/304.png","name":"304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/304.png","name":"304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1329.png","name":"1329"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7546.png","name":"7546"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8330.png","name":"8330"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8715.png","name":"8715"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":552.7406156986173,"rotation_z_degrees":9.398400323223228,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007033097963879235,0.019232786766491584,0.007802834133789793]},{"name":"camera_2","offset_m":[-0.0004420841143326429,0.004479460696349392,-0.013708724612576152]},{"name":"camera_3","offset_m":[0.002152723022603279,0.010393380080896873,0.017733952453663947]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000387640464838698,-0.0002515733089364343,0.0013148725131619582],"end_effector_yaw_offset_degrees":0.9089880332657534},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019840900106416993,-0.0001042943518891914,-0.0018436067993420164],"end_effector_yaw_offset_degrees":0.6914334620286506},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011170438641673985,-0.001926171431044259,0.0012767529200994328],"end_effector_yaw_offset_degrees":0.9990715084582458}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032807634994585066,0.0027412883298835377],"position_m":[0.1936192365005415,0.3104412883298835,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001780357271387183,0.0008902906135159613],"position_m":[0.24201964272861282,-0.333309709386484,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014256293146231273,-0.004489300156117937],"position_m":[0.2924256293146231,-0.08148930015611794,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00297571437701576,-0.00439472173380006],"position_m":[0.32762428562298423,0.07650527826619993,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6292b31638068d95dc554454aaf03c829446e9aef2de7a79411e89a91e732377","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_304/tex_ceiling_textures_8715/tex_floor_textures_8330/tex_table_textures_1329/tex_wall_textures_7546","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8430456801432650371,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8430456801432650371,"visual_seed":8430456801432650371,"scene_id":"lab_003","finished_at":"2026-09-04T06:56:00"}
+{"episode_id":"ep_000004","started_at":"2026-09-04T06:56:04","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.5936507754013072,1.5370510051738298,0.71338606911949],"aabb_xy":[[-0.6576507776217141,1.4926779210485412],[-0.5296507731809,1.5814240892991178]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.5619272760802845,-2.447872803777204,0.71338606911949],"aabb_xy":[[0.4819272746501573,-2.5273899587898137],[0.6419272775104117,-2.3683556487645947]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[0.6620823356866445,-2.0248876824255,0.71338606911949],"aabb_xy":[[0.6286031684256037,-2.058366795796607],[0.6955615029476856,-1.9914085690543932]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.10626027339936905,0.6021476993859558,0.71338606911949],"aabb_xy":[[-0.14305490652427533,0.5652418242893735],[-0.0694656402744628,0.6390535744825381]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[-0.43132453169352075,0.49644569771979796,0.71338606911949],"aabb_xy":[[-0.47257334272343543,0.44144569820758045],[-0.39007572066360596,0.5514456972320153]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[-0.13823830327588182,-1.591844056478005,0.71338606911949],"aabb_xy":[[-0.15086509056307815,-1.6013901301795779],[-0.12561151598868545,-1.582297982776432]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.18339383516542496,1.68136512083603,0.71338606911949],"aabb_xy":[[0.10339383815117698,1.661230569162619],[0.26339383217967294,1.7014996725094416]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[-0.3924063211697014,-0.33426369761404295,0.71338606911949],"aabb_xy":[[-0.4032467993962163,-0.3514499789046917],[-0.3815658429431865,-0.3170774163233941]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[0.6318105613164045,-0.306074264609864,0.71338606911949],"aabb_xy":[[0.6093457913449993,-0.3285742654887245],[0.6542753312878096,-0.2835742637310035]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[0.0886977568926095,-1.7053168482665884,0.71338606911949],"aabb_xy":[[0.01869775476117995,-1.7280788138922836],[0.15869775902403904,-1.6825548826408923]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[0.07100624353657226,-1.1934999625290246,0.71338606911949],"aabb_xy":[[0.0060062425794450555,-1.2454481744627302],[0.13600624449369947,-1.141551750595319]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.6270413815336322,1.11647352959218,0.71338606911949],"aabb_xy":[[-0.6324993271706524,1.0364735262845208],[-0.6215834358966122,1.196473532899839]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[-0.1549887835477366,1.5935536372824024,0.71338606911949],"aabb_xy":[[-0.1726644141363349,1.5758734210029994],[-0.13731315295913823,1.611233853561805]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.4956451730907858,-0.5909576698688079,0.71338606911949],"aabb_xy":[[0.4737364909514347,-0.6128583366888986],[0.5175538552301369,-0.5690570030487171]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.18926957667230326,-1.4146890681458213,0.71338606911949],"aabb_xy":[[-0.25326957808029393,-1.466478019669746],[-0.1252695752643126,-1.3629001166218966]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[0.32599198381936256,-1.3532040400575478,0.71338606911949],"aabb_xy":[[0.3179486238934074,-1.4382040411529142],[0.33403534374531774,-1.2682040389621814]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.19824559208905085,-0.3281972499097252,0.71338606911949],"aabb_xy":[[-0.23415909651404052,-0.3641107581264798],[-0.16233208766406113,-0.2922837416929706]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[0.42927816134559205,-2.0608215751380214,0.71338606911949],"aabb_xy":[[0.36927816149902526,-2.1176401973310597],[0.48927816119215883,-2.0040029529449823]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[-0.1090126958829497,-2.05658602016336,0.71338606911949],"aabb_xy":[[-0.1730126979326817,-2.0966805032526685],[-0.045012693833217696,-2.0164915370740526]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.42623464714550824,-2.478799830263685,0.71338606911949],"aabb_xy":[[-0.4762077126780238,-2.5287998300762182],[-0.3762615816129929,-2.4287998304511524]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[-0.23250455936006864,0.9630183307307076,0.71338606911949],"aabb_xy":[[-0.2710502521852697,0.9244725596745189],[-0.1939588665348676,1.0015641017868964]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6564038589960894,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1373.png","name":"1373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1373.png","name":"1373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9155.png","name":"9155"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4626.png","name":"4626"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2326.png","name":"2326"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4138.png","name":"4138"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":836.8414461723623,"rotation_z_degrees":107.9150796432877,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011645690569356422,-0.007757697722622959,-0.017232299077313773]},{"name":"camera_2","offset_m":[0.009558427270231342,0.0032097684850110678,-0.004522563659386112]},{"name":"camera_3","offset_m":[0.013921936978220483,-0.015438574423668867,-0.014661960077322629]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00043940283781311986,-0.001286012617390436,0.0010745131068222],"end_effector_yaw_offset_degrees":-0.7528781627741981},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009350510196201121,0.0012968861769170645,-0.0016127166163115918],"end_effector_yaw_offset_degrees":0.3625322387244041},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012205518044450239,-0.0009266136567653712,-0.0009095338902178546],"end_effector_yaw_offset_degrees":-0.27671277959055063}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012065157654009197,0.0037853019280985256],"position_m":[0.19569348423459906,0.3114853019280985,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002443085910946452,-0.0008959520401781874],"position_m":[0.24135691408905355,-0.33509595204017817,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003534794000178073,0.002175269031075784],"position_m":[0.29453479400017807,-0.07482473096892421,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015957422380928335,-0.004617352303477934],"position_m":[0.32900425776190717,0.07628264769652207,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"656cbed54cc3b1c9fe5f2c8aba45c63e236a0360ef709d9c4e75544ba4535098","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1373/tex_ceiling_textures_4138/tex_floor_textures_2326/tex_table_textures_9155/tex_wall_textures_4626","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7474510023286692768,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7474510023286692768,"visual_seed":7474510023286692768,"scene_id":"lab_003","finished_at":"2026-09-04T06:59:13"}
+{"episode_id":"ep_000005","started_at":"2026-09-04T06:59:17","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.5030001129229477,-0.9765898883925899,0.71338606911949],"aabb_xy":[[-0.5680001114800205,-1.0063424218064725],[-0.4380001143658748,-0.9468373549787072]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.2796134601610982,-0.9716514044116706,0.71338606911949],"aabb_xy":[[-0.3436134622108303,-1.0117458875009786],[-0.21561345811136629,-0.9315569213223627]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.025315868138466646,-1.7717293561889802,0.71338606911949],"aabb_xy":[[-0.036088842059834425,-1.8067293544080192],[-0.014542894217098867,-1.7367293579699412]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.15347029301814585,0.9410518797721759,0.71338606911949],"aabb_xy":[[0.10738520176341436,0.8770518825196209],[0.1995553842728773,1.005051877024731]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[0.4400420679431929,-2.1614329138190715,0.71338606911949],"aabb_xy":[[0.4096439568440493,-2.191839815820741],[0.4704401790423365,-2.131026011817402]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[0.1485031350569408,-1.622576094842081,0.71338606911949],"aabb_xy":[[0.088503135210374,-1.6793947170351198],[0.20850313490350758,-1.5657574726490424]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[-0.23694961251411023,0.8873958497246512,0.71338606911949],"aabb_xy":[[-0.24108546884681045,0.8498958502802944],[-0.23281375618141006,0.9248958491690084]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.21533098016622054,-0.8107172996049015,0.71338606911949],"aabb_xy":[[0.20517796461207108,-0.8467868411776417],[0.22548399572036984,-0.774647758032161]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.21021233394033134,1.0974981130128496,0.71338606911949],"aabb_xy":[[0.12021233452196045,1.0641226161686597],[0.30021233335870223,1.130873609857039]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.10634546574709103,-0.6117444183051108,0.71338606911949],"aabb_xy":[[-0.15634546710797825,-0.6617223228805265],[-0.056345464386203824,-0.5617665137296952]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.6366464637248253,1.3029540597440281,0.71338606911949],"aabb_xy":[[0.6191464634797758,1.285454271904461],[0.6541464639698745,1.3204538475835947]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.4044956042499987,-2.327777705182446,0.71338606911949],"aabb_xy":[[-0.424554015863239,-2.3478427920916034],[-0.3844371926367584,-2.3077126182732886]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.022429757261938965,0.5343062850337903,0.71338606911949],"aabb_xy":[[-0.04029886501639446,0.5204733770565795],[-0.004560649507483472,0.5481391930110013]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.024817377594465118,1.4533630946133331,0.71338606911949],"aabb_xy":[[-0.025182624067029643,1.4033646523576302],[0.07481737925595987,1.5033615368690356]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[0.11425540834338765,-0.6959459403100172,0.71338606911949],"aabb_xy":[[0.07746077521848138,-0.7328518154065995],[0.15105004146829393,-0.659040065213435]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.2413324173024735,-2.36418632384375,0.71338606911949],"aabb_xy":[[-0.2963061393388064,-2.4191863234079833],[-0.18635869526614063,-2.309186324279517]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.48247382868523214,-1.199129481662747,0.71338606911949],"aabb_xy":[[-0.4889754651932368,-1.2088973036890567],[-0.4759721921772276,-1.1893616596364371]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[-0.28780297584665326,1.1042215650656124,0.71338606911949],"aabb_xy":[[-0.3021374009728167,1.0921613495110736],[-0.2734685507204898,1.1162817806201513]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.1533089189374124,-2.3756745513248294,0.71338606911949],"aabb_xy":[[0.07331509535885417,-2.455674553917671],[0.2333027425159706,-2.295674548731988]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[-0.19942162888000303,0.09057693830915303,0.71338606911949],"aabb_xy":[[-0.25442162708174787,0.050054971682715436],[-0.1444216306782582,0.1310989049355906]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[0.0010087014607346179,-0.674187625055864,0.71338606911949],"aabb_xy":[[-0.016093376497633538,-0.6912944305871338],[0.018110779419102774,-0.6570808195245943]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.29006524884032847,1.7585370030776004,0.71338606911949],"aabb_xy":[[0.27315451640398664,1.7450647974849853],[0.3069759812766702,1.7720092086702146]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[-0.3253179825033044,0.5394478585304006,0.71338606911949],"aabb_xy":[[-0.3340159447940197,0.5273228842229258],[-0.3166200202125891,0.5515728328378753]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.6197898881112051,0.6921929000994127,0.71338606911949],"aabb_xy":[[-0.6372898215451883,0.6746929001791782],[-0.6022899546772216,0.7096929000196472]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.3613399775327001,-1.355667393266616,0.71338606911949],"aabb_xy":[[-0.3666724921873131,-1.3609917215118514],[-0.35600746287808716,-1.3503430650213804]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[0.5612637846958783,-1.5621769149242575,0.71338606911949],"aabb_xy":[[0.5390912577192275,-1.5843525820803805],[0.5834363116725292,-1.540001247768134]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_26","position":[-0.3795482380466201,-1.9978219561285226,0.71338606911949],"aabb_xy":[[-0.41401058544476177,-2.032315838526345],[-0.34508589064847817,-1.9633280737306997]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_27","position":[0.3848296435940948,-0.6923313331241414,0.71338606911949],"aabb_xy":[[0.3505327325763541,-0.7266282193340826],[0.41912655461183534,-0.6580344469142]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[-0.5650281601509155,1.3103092729610504,0.71338606911949],"aabb_xy":[[-0.5722719261971608,1.230309274757448],[-0.5577843941046702,1.3903092711646527]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_29","position":[0.5527976029632025,0.4007611462091001,0.71338606911949],"aabb_xy":[[0.4827975995716404,0.3654453725056692],[0.6227976063547643,0.43607691991253095]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_30","position":[0.28912340623230814,-1.247289308434078,0.71338606911949],"aabb_xy":[[0.2794917700118785,-1.2569266212137868],[0.29875504245273776,-1.237651995654369]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_31","position":[-0.5347111978645325,-2.2923978388841673,0.71338606911949],"aabb_xy":[[-0.5455516760910473,-2.309584120174816],[-0.5238707196380175,-2.2752115575935186]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_32","position":[-0.24940911342707411,-0.2559158704021858,0.71338606911949],"aabb_xy":[[-0.3394091157610931,-0.33339822498729843],[-0.15940911109305503,-0.17843351581707312]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6584376550010084,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4204.png","name":"4204"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4204.png","name":"4204"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8964.png","name":"8964"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9809.png","name":"9809"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2722.png","name":"2722"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5150.png","name":"5150"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":526.3808087214574,"rotation_z_degrees":318.3106078371827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012937536692525998,0.0028250219514354344,-0.004437102170342922]},{"name":"camera_2","offset_m":[-0.004599094545346403,0.01811453889117341,0.012097652127661205]},{"name":"camera_3","offset_m":[-0.01230363626287891,-0.012894478058507196,0.01098539881539944]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013741209936527924,-0.0015439978581013394,0.001614768595353231],"end_effector_yaw_offset_degrees":-0.2586977527699965},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016565216770943964,0.00038632460318896184,-0.0010999248194087832],"end_effector_yaw_offset_degrees":0.8820573069550874},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010169128138622853,-0.0016063147641047996,0.00035304568137666014],"end_effector_yaw_offset_degrees":-0.9067383197830281}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0002835527651374589,-0.003975888795772688],"position_m":[0.19661644723486255,0.30372411120422727,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027137519894827027,0.0038734359051801224],"position_m":[0.2465137519894827,-0.33032656409481986,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026276894796163283,-0.00415679803487663],"position_m":[0.2936276894796163,-0.08115679803487663,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00029628593121739256,0.0023707397944490735],"position_m":[0.3308962859312174,0.08327073979444907,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"943cc7bf8481b5619e98c61d4267c28bcf78434dce82bc2e381c91473ca1d8ae","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4204/tex_ceiling_textures_5150/tex_floor_textures_2722/tex_table_textures_8964/tex_wall_textures_9809","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7670991435110869712,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7670991435110869712,"visual_seed":7670991435110869712,"scene_id":"lab_003","finished_at":"2026-09-04T07:02:51"}
+{"episode_id":"ep_000006","started_at":"2026-09-04T07:02:54","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[0.36238216782098975,1.5071689440221694,0.71338606911949],"aabb_xy":[[0.3532222888771131,1.5006377259786323],[0.3715420467648663,1.5137001620657065]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[-0.21633350900465914,-2.1626501001171023,0.71338606911949],"aabb_xy":[[-0.2294847549759485,-2.187650099873789],[-0.20318226303336978,-2.137650100360416]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.35528000986993646,-1.8998419391887382,0.71338606911949],"aabb_xy":[[0.347867554328548,-1.9056931496103664],[0.36269246541132494,-1.8939907287671105]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.6810705639460026,0.5869489696497578,0.71338606911949],"aabb_xy":[[0.6655147945357374,0.5713985364053507],[0.6966263333562679,0.602499402894165]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.6078310117829553,-0.9069514714736862,0.71338606911949],"aabb_xy":[[0.5998375219876733,-0.9149496034141619],[0.6158245015782373,-0.8989533395332107]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.15146296992081,-2.0771179679606555,0.71338606911949],"aabb_xy":[[0.146130455266197,-2.0824422962058913],[0.15679548457542297,-2.0717936397154197]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[-0.0839328016178813,-1.8787004510511416,0.71338606911949],"aabb_xy":[[-0.09097311155141831,-1.9587004504508134],[-0.07689249168434432,-1.7987004516514706]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[0.26353759432862245,1.1838049542521798,0.71338606911949],"aabb_xy":[[0.2136548974509263,1.1338049550059053],[0.3134202912063187,1.2338049534984548]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.44783610351807557,0.4555659749640881,0.71338606911949],"aabb_xy":[[-0.49793356749914913,0.3915659744542763],[-0.3977386395370019,0.5195659754738999]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[-0.2891377026868071,1.368347972346808,0.71338606911949],"aabb_xy":[[-0.32257787788282666,1.3349043465158774],[-0.25569752749078745,1.4017915981777376]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[-0.26588146725144945,-0.21679975173029753,0.71338606911949],"aabb_xy":[[-0.28838146726159775,-0.23089597136990084],[-0.24338146724130116,-0.20270353209069428]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[0.3551952577380013,0.72552596247179,0.71338606911949],"aabb_xy":[[0.3491582447373366,0.7194992614028418],[0.36123227073866604,0.7315526635407382]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.5005817659609648,0.041893483455170966,0.71338606911949],"aabb_xy":[[0.49646581584889204,0.03777792842232547],[0.5046977160730374,0.04600903848801646]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.21573122199679345,0.3138768879959053,0.71338606911949],"aabb_xy":[[-0.2797312222572642,0.2688680886429773],[-0.15173122173632264,0.3588856873488333]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[0.4741026377772717,-1.6628287795254646,0.71338606911949],"aabb_xy":[[0.46402093069869815,-1.7428287774175788],[0.4841843448558451,-1.5828287816333495]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.20428785083660095,0.9794177075555064,0.71338606911949],"aabb_xy":[[-0.25426665934691683,0.9294177075497876],[-0.1543090423262851,1.0294177075612252]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.08409755693191279,1.7727247711177925,0.71338606911949],"aabb_xy":[[-0.1480975542342592,1.7283583441499355],[-0.020097559629566372,1.817091198085649]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.04714376886573557,-2.1708784777470687,0.71338606911949],"aabb_xy":[[-0.01785623116856716,-2.217579154427396],[0.1121437689000383,-2.1241778010667414]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[0.5938372080545211,0.801809781100963,0.71338606911949],"aabb_xy":[[0.5803906814204777,0.7883399294478717],[0.6072837346885643,0.8152796327540541]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.43206822453909766,0.8527541607392028,0.71338606911949],"aabb_xy":[[0.42049924379216114,0.8277541606222711],[0.4436372052860343,0.8777541608561346]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.31327320197052794,-1.484260141014909,0.71338606911949],"aabb_xy":[[-0.3932732006274139,-1.4987649999391721],[-0.23327320331364187,-1.4697552820906463]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[0.060921115624361866,0.6756461828116485,0.71338606911949],"aabb_xy":[[0.01092111604802716,0.6256656038595425],[0.1109211152006966,0.7256267617637544]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[-0.3603972357916259,-1.7082366299200125,0.71338606911949],"aabb_xy":[[-0.3650323509438593,-1.712103964997161],[-0.35576212063939244,-1.7043692948428635]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.4384972816773104,-1.9497352410160587,0.71338606911949],"aabb_xy":[[-0.45607558386625724,-1.9673097305901635],[-0.42091897948836354,-1.9321607514419534]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6527424328394852,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/36.png","name":"36"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/36.png","name":"36"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4932.png","name":"4932"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1515.png","name":"1515"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9141.png","name":"9141"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9919.png","name":"9919"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":767.4503253380531,"rotation_z_degrees":293.80166194081244,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010134041888298789,0.006840206538660309,-0.010786260209920524]},{"name":"camera_2","offset_m":[-0.012602709604748373,0.004796902995203255,-0.004157094482719347]},{"name":"camera_3","offset_m":[0.011782633256193744,-0.002493270349451241,-0.003083503576015785]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007528905627661477,0.0002417768118963999,0.0014710965217863727],"end_effector_yaw_offset_degrees":-0.752119829862292},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008667872586770825,-0.001453008838309415,-0.0010475837158289041],"end_effector_yaw_offset_degrees":0.7410650089285584},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018878435155273547,0.001017158795815109,-0.000630674230033042],"end_effector_yaw_offset_degrees":-0.660885627945166}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009556576884236613,0.001456063696107266],"position_m":[0.19785565768842364,0.30915606369610726,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0045452042972924985,0.0027417768987709427],"position_m":[0.2392547957027075,-0.3314582231012291,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002820096814695672,0.0023103773038913537],"position_m":[0.2881799031853043,-0.07468962269610864,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002621876765696294,-0.003807010553494917],"position_m":[0.3332218767656963,0.07709298944650508,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20724afff5f176fa3ef63b2c06524aae48b9b53d31a3c01e2a2e81c35e04d224","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_36/tex_ceiling_textures_9919/tex_floor_textures_9141/tex_table_textures_4932/tex_wall_textures_1515","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6731598254149446246,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6731598254149446246,"visual_seed":6731598254149446246,"scene_id":"lab_003","finished_at":"2026-09-04T07:05:59"}
+{"episode_id":"ep_000007","started_at":"2026-09-04T07:06:02","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[-0.19053800046839398,0.9488300113108732,0.71338606911949],"aabb_xy":[[-0.2545379997625622,0.884843870942019],[-0.12653800117422576,1.0128161516797274]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[-0.604457416842628,-1.267081363782201,0.71338606911949],"aabb_xy":[[-0.6544574164189628,-1.317061942734307],[-0.5544574172662934,-1.2171007848300952]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[-0.1527008707895997,-0.11590107271851124,0.71338606911949],"aabb_xy":[[-0.20270087115016577,-0.1658810599281142],[-0.10270087042903366,-0.0659210855089083]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[-0.4856822809026356,-2.2091058042647616,0.71338606911949],"aabb_xy":[[-0.5231822810082285,-2.2159279661177425],[-0.44818228079704264,-2.2022836424117798]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.3706352282538259,-0.8555246030815571,0.71338606911949],"aabb_xy":[[0.3574042827191446,-0.8687520221035564],[0.3838661737885072,-0.8422971840595576]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.2859053929714902,0.547893383520702,0.71338606911949],"aabb_xy":[[0.26847467789248364,0.5306212688568511],[0.30333610805049666,0.5651654981845528]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[0.46016896137337215,-0.5266080762622272,0.71338606911949],"aabb_xy":[[0.4001689605125593,-0.5780345062687133],[0.5201689622341849,-0.4751816462557406]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.37655132685835824,-0.1030486125054697,0.71338606911949],"aabb_xy":[[-0.41509701968355933,-0.14159438356165838],[-0.33800563403315725,-0.06450284144928105]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[-0.497066371302734,-0.6156981854777444,0.71338606911949],"aabb_xy":[[-0.5470663722532667,-0.6472473324812656],[-0.4470663703522011,-0.5841490384742228]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[0.6599232344979209,0.08352146478526379,0.71338606911949],"aabb_xy":[[0.6098257705168473,0.019521464275451983],[0.7100206984789945,0.1475214652950756]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[0.34993915989342494,-2.202097780607721,0.71338606911949],"aabb_xy":[[0.32128982753300867,-2.2307433398847962],[0.3785884922538411,-2.1734522213306446]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.6450185462954591,-1.7798840190268121,0.71338606911949],"aabb_xy":[[-0.6949916118279745,-1.8298840188393455],[-0.5950454807629436,-1.7298840192142797]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.2774359271339544,1.5261475434075673,0.71338606911949],"aabb_xy":[[0.19743592387611142,1.4461510356155831],[0.35743593039179733,1.606144051199551]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[-0.0795135745438994,-1.0642841626237924,0.71338606911949],"aabb_xy":[[-0.15951357670666189,-1.1442393462499358],[0.00048642761886309727,-0.9843289789976486]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.3065836116281051,-0.9439240057891265,0.71338606911949],"aabb_xy":[[0.2985901218328232,-0.9519221377296023],[0.31457710142338724,-0.9359258738486511]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[-0.47551474308202557,-1.2445536613813533,0.71338606911949],"aabb_xy":[[-0.4980138788082525,-1.2670536621596162],[-0.45301560735579854,-1.2220536606030903]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[-0.1959529860004156,-1.3401234608423394,0.71338606911949],"aabb_xy":[[-0.2184494074342797,-1.3626234606490868],[-0.1734565645665515,-1.317623461035592]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[-0.4384978592348184,0.363452085457149,0.71338606911949],"aabb_xy":[[-0.47599785940669026,0.3307513500742418],[-0.4009978590629464,0.39615282084005615]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[-0.0738689964789414,-0.8588473372710976,0.71338606911949],"aabb_xy":[[-0.12386382940688301,-0.9088473361663413],[-0.023874163550999805,-0.8088473383758542]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[-0.21566221803533325,-1.2594584827521955,0.71338606911949],"aabb_xy":[[-0.22650269626184816,-1.2766447640428442],[-0.20482173980881835,-1.2422722014615468]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6623153182500582,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7496.png","name":"7496"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7496.png","name":"7496"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2654.png","name":"2654"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9307.png","name":"9307"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8607.png","name":"8607"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":838.8670455545355,"rotation_z_degrees":49.93409035284963,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005081284518486093,-0.00402545419273545,0.016742805231719293]},{"name":"camera_2","offset_m":[-0.019923820468604376,0.013245999268177735,0.01435384554915579]},{"name":"camera_3","offset_m":[0.01062942197326882,0.011778088427503667,-0.006881585069368822]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011335658111977826,0.0018008077253747218,0.0014506482447731],"end_effector_yaw_offset_degrees":-0.9144512163219167},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006173883639611444,-0.0009682851270752938,0.0003519513837672676],"end_effector_yaw_offset_degrees":-0.08201585070912842},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011907133961839601,0.00017689658314821305,0.0015926401029622665],"end_effector_yaw_offset_degrees":0.8490758297886025}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002637048353283258,0.003699182212751408],"position_m":[0.19953704835328326,0.31139918221275137,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003346571375779257,-0.00272089637980339],"position_m":[0.24714657137577925,-0.3369208963798034,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004401093178304622,-0.002009002635613475],"position_m":[0.2954010931783046,-0.07900900263561347,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036973461924187196,0.0044988535594861585],"position_m":[0.33429734619241874,0.08539885355948616,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b22e1556229abdf681363b412896ac683e205872d2d805b72e9e647d26d3e0a","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7496/tex_ceiling_textures_8607/tex_floor_textures_9307/tex_table_textures_3943/tex_wall_textures_2654","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2086080265999363364,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2086080265999363364,"visual_seed":2086080265999363364,"scene_id":"lab_003","finished_at":"2026-09-04T07:09:39"}
+{"episode_id":"ep_000008","started_at":"2026-09-04T07:09:43","dimensions":{"distractor":{"count":29,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.6319097819775072,1.1766329486646558,0.71338606911949],"aabb_xy":[[0.6200376989660061,1.0916329489710057],[0.6437818649890084,1.2616329483583064]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.48145003826719074,-1.3213208780395296,0.71338606911949],"aabb_xy":[[-0.5017343409905894,-1.3416035031822382],[-0.461165735543792,-1.3010382528968205]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.6699352474333087,-1.0006567153929846,0.71338606911949],"aabb_xy":[[-0.6890475547912875,-1.0197914942702266],[-0.6508229400753298,-0.9815219365157426]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[-0.052753581739017674,-2.4475754692957468,0.71338606911949],"aabb_xy":[[-0.08390050058260079,-2.5175754679825535],[-0.02160666289543455,-2.377575470608939]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.0371590097831942,-0.08036182231516964,0.71338606911949],"aabb_xy":[[-0.06007472266824411,-0.10326611945159316],[-0.014243296898144301,-0.05745752517874614]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[0.10691834015560275,-1.149515944866135,0.71338606911949],"aabb_xy":[[0.08941833991055334,-1.1670157327057018],[0.12441834040065211,-1.132016157026568]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.047973750095095635,-2.116531586674344,0.71338606911949],"aabb_xy":[[0.02469190789696429,-2.2015315879715716],[0.07125559229322696,-2.0315315853771154]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[0.5069274251509095,-0.7438340833248289,0.71338606911949],"aabb_xy":[[0.4469274248995082,-0.7981154083612935],[0.5669274254023106,-0.6895527582883642]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.10952671241276513,-0.20846637120760025,0.71338606911949],"aabb_xy":[[-0.15962417639383875,-0.27246637171741206],[-0.05942924843169152,-0.14446637069778845]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[0.5169102874768101,-2.365426733632893,0.71338606911949],"aabb_xy":[[0.46693699347354956,-2.41542673418744],[0.5668835814800705,-2.315426733078345]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.145407013333131,0.8367536167245775,0.71338606911949],"aabb_xy":[[-0.19528971021082725,0.7867536174783031],[-0.09552431645543483,0.8867536159708526]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[-0.08199915626752818,0.5350113166820387,0.71338606911949],"aabb_xy":[[-0.08758082790165694,0.5225113168642632],[-0.07641748463339942,0.5475113164998142]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[0.09418637025566579,1.5238748048760882,0.71338606911949],"aabb_xy":[[0.08131446675472563,1.4438748044622518],[0.10705827375660591,1.603874805289924]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[-0.040575779458531525,1.6845899114354919,0.71338606911949],"aabb_xy":[[-0.07807577980675928,1.6727985158544083],[-0.003075779110303767,1.6963813070165754]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.5583555977445933,-1.8534812534387677,0.71338606911949],"aabb_xy":[[-0.6223555999650003,-1.8978543375640557],[-0.4943555955241863,-1.8091081693134792]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.14135144089731322,-0.61886902184402,0.71338606911949],"aabb_xy":[[0.13126973381873971,-0.6988690197361346],[0.15143314797588667,-0.5388690239519053]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[-0.47965180027256366,1.4709050650634556,0.71338606911949],"aabb_xy":[[-0.49656253270890544,1.4574328594708408],[-0.4627410678362219,1.48437727065607]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[0.6478609834652014,-0.5641467953846151,0.71338606911949],"aabb_xy":[[0.6437251271325013,-0.6016467948289721],[0.6519968397979017,-0.5266467959402581]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[-0.3789074494518835,-1.8501538855270225,0.71338606911949],"aabb_xy":[[-0.4339006607890203,-1.9051538858658164],[-0.32391423811474673,-1.7951538851882292]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.19914725634095892,-1.6475985196908216,0.71338606911949],"aabb_xy":[[-0.2631472549275313,-1.6946054830903303],[-0.13514725775438644,-1.600591556291313]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[-0.3512536066920941,-0.6083134844390166,0.71338606911949],"aabb_xy":[[-0.3600348338393304,-0.6170932317275467],[-0.34247237954485793,-0.5995337371504864]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.2376315306047408,0.20370920904582057,0.71338606911949],"aabb_xy":[[-0.28291014548589,0.1397092096976369],[-0.1923529157235915,0.26770920839400425]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.14375405480536652,-2.0519874634446382,0.71338606911949],"aabb_xy":[[0.13182132044353845,-2.0643696162524976],[0.15568678916719458,-2.039605310636779]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_23","position":[0.5335102855536877,0.821407837276011,0.71338606911949],"aabb_xy":[[0.4835102851931216,0.7714278500664081],[0.5835102859142537,0.871387824485614]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[0.09316039049111247,0.9258239950724314,0.71338606911949],"aabb_xy":[[0.0581603912982942,0.9148569490747687],[0.12816038968393073,0.9367910410700939]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[-0.4961807143740504,0.9411412834139812,0.71338606911949],"aabb_xy":[[-0.5042240743000055,0.8561412823186147],[-0.4881373544480952,1.0261412845093476]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.44354153736926394,0.4348000312816964,0.71338606911949],"aabb_xy":[[-0.5235415376428707,0.3618504834559797],[-0.36354153709565684,0.5077495791074131]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.34930606931434327,0.40716727547820275,0.71338606911949],"aabb_xy":[[0.285306069040365,0.35710117528091473],[0.41330606958832145,0.45723337567549066]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_28","position":[-0.28884625442423184,-0.22110009212987736,0.71338606911949],"aabb_xy":[[-0.319330504551262,-0.2711000919113733],[-0.2583620042972017,-0.17110009234838142]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6546623837714228,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/455.png","name":"455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/455.png","name":"455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2439.png","name":"2439"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4596.png","name":"4596"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9454.png","name":"9454"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":785.2203834469658,"rotation_z_degrees":74.65098071421468,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032371725663502687,0.010508311298689975,0.009799476696987372]},{"name":"camera_2","offset_m":[-0.005830447659361946,-0.010642965543668016,0.006985506118813434]},{"name":"camera_3","offset_m":[0.007576801348835805,-0.018032473211817487,0.012784922079505729]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006374078160235467,0.00022524248221977286,-0.00017870791774391164],"end_effector_yaw_offset_degrees":-0.030955942220140642},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00035212528869207156,-0.0004047649796894558,0.0014477521991070447],"end_effector_yaw_offset_degrees":-0.6245744536570959},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015393762113003607,-7.579955233200488e-05,0.0011595342992335366],"end_effector_yaw_offset_degrees":0.335975693626007}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002782663897266907,0.00195997701140623],"position_m":[0.1996826638972669,0.3096599770114062,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014097511384772079,0.004292969858578361],"position_m":[0.24239024886152277,-0.32990703014142164,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027239737180395343,-0.004072949443736781],"position_m":[0.2937239737180395,-0.08107294944373677,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008580915842966077,-0.0012461480392432943],"position_m":[0.3297419084157034,0.07965385196075671,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20565f0329919fea2169744d8242619bad9d9d5aff6e3714b851aa4ac9ee61bf","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_455/tex_ceiling_textures_3943/tex_floor_textures_9454/tex_table_textures_2439/tex_wall_textures_4596","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5722131395345073623,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5722131395345073623,"visual_seed":5722131395345073623,"scene_id":"lab_003","finished_at":"2026-09-04T07:13:03"}
+{"episode_id":"ep_000009","started_at":"2026-09-04T07:13:06","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.6423533752082253,-1.5156991000217914,0.71338606911949],"aabb_xy":[[-0.6923533738541464,-1.5656186436812536],[-0.592353376562304,-1.4657795563623288]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.5002397213559602,1.4187663844530243,0.71338606911949],"aabb_xy":[[-0.5121724557177882,1.4063842316451647],[-0.4883069869941321,1.4311485372608834]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.47035474123030063,1.2829550140353772,0.71338606911949],"aabb_xy":[[0.3853547428128774,1.1980807185730922],[0.5553547396477239,1.3678293094976621]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.22354185886626332,-1.2393446741204066,0.71338606911949],"aabb_xy":[[0.17826324398511403,-1.3033446734685903],[0.2688204737474126,-1.175344674772223]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[0.45948862994852724,0.40044791969048266,0.71338606911949],"aabb_xy":[[0.4244886308185716,0.39470269861481855],[0.4944886290784829,0.40619314076614677]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.14814457274728832,0.7236859352156779,0.71338606911949],"aabb_xy":[[-0.15898505097380322,0.7064996539250291],[-0.1373040945207734,0.7408722165063267]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[-0.5516176594876562,-1.6766095998816728,0.71338606911949],"aabb_xy":[[-0.6066099101231671,-1.7316096016249858],[-0.49662540885214523,-1.6216095981383603]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[-0.31645259059065856,0.8706262341850945,0.71338606911949],"aabb_xy":[[-0.3804525919986492,0.8188372826611698],[-0.2524525891826679,0.9224151857090193]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.4418660845093458,0.06305876032602864,0.71338606911949],"aabb_xy":[[-0.5068660871471393,0.01157916162658168],[-0.3768660818715523,0.1145383590254756]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[-0.3849721416219026,-0.5140494971740011,0.71338606911949],"aabb_xy":[[-0.4068808237612536,-0.5359501639940918],[-0.36306345948255153,-0.4921488303539103]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.25473627680375205,-0.9096845600182935,0.71338606911949],"aabb_xy":[[-0.31873627323107395,-0.95685418384039],[-0.19073628037643015,-0.8625149361961971]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.5501079341643043,0.4715470370538175,0.71338606911949],"aabb_xy":[[0.5421139455866009,0.46354695695872705],[0.5581019227420077,0.47954711714890774]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.4278082090844594,-1.1624037801981144,0.71338606911949],"aabb_xy":[[-0.457775765994285,-1.1924037804960002],[-0.39784065217463366,-1.1324037799002287]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.5254591764926994,-2.0307282425051056,0.71338606911949],"aabb_xy":[[-0.5431348070812977,-2.048408458784508],[-0.507783545904101,-2.0130480262257024]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.672501725691915,-2.408148237472667,0.71338606911949],"aabb_xy":[[0.6479881015949093,-2.432412830774703],[0.697015349788921,-2.38388364417063]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[0.5222419149989308,-2.44020686887293,0.71338606911949],"aabb_xy":[[0.4959530906784901,-2.466478302527581],[0.5485307393193714,-2.4139354352182787]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[-0.5799308463760722,1.4041244153633223,0.71338606911949],"aabb_xy":[[-0.5848301386826356,1.3764474960607536],[-0.5750315540695086,1.431801334665891]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.5913236759989821,-0.5527158003997004,0.71338606911949],"aabb_xy":[[-0.6513236762503832,-0.6069971254361649],[-0.5313236757475809,-0.4984344753632356]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[-0.20965362753706657,-1.3573261214469534,0.71338606911949],"aabb_xy":[[-0.21596572707340497,-1.3630930607001723],[-0.2033415280007281,-1.3515591821937345]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[-0.060162030437908354,-0.20858511656940193,0.71338606911949],"aabb_xy":[[-0.11779249932517918,-0.2685851154961125],[-0.002531561550637495,-0.14858511764269133]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[0.21463078986424744,1.2270367889011116,0.71338606911949],"aabb_xy":[[0.15063079346867436,1.1630735004823778],[0.2786307862598205,1.291000077319845]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.3737022087034878,-1.7472876556611392,0.71338606911949],"aabb_xy":[[0.36292923478211997,-1.7822876538801782],[0.3844751826248555,-1.7122876574421002]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[0.6840464895287377,1.7128476153523073,0.71338606911949],"aabb_xy":[[0.6694030839747046,1.698188895695523],[0.6986898950827706,1.7275063350090913]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[-0.6024636615094439,-0.7466210324832718,0.71338606911949],"aabb_xy":[[-0.6194737587994945,-0.7627555209815456],[-0.5854535642193932,-0.7304865439849978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569758306136996,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4408.png","name":"4408"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4408.png","name":"4408"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6505.png","name":"6505"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2934.png","name":"2934"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1127.png","name":"1127"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7359.png","name":"7359"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":809.763549283961,"rotation_z_degrees":98.90818752491984,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005678062403033715,-0.019843970991862726,-0.01673695368148862]},{"name":"camera_2","offset_m":[0.0009791228162948917,-0.01842635926016473,-0.019471494052761718]},{"name":"camera_3","offset_m":[-0.005702240408671781,-0.010281685224916402,0.01731063931946136]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017304292825806498,0.001230460262351277,0.001422572494853789],"end_effector_yaw_offset_degrees":-0.6820784266790094},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001718621435363834,-0.0012159102352664371,-0.0004190890468354386],"end_effector_yaw_offset_degrees":-0.43526097136037634},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013217532690837125,-0.0015685595298886442,-0.0010623021200986313],"end_effector_yaw_offset_degrees":-0.10255545200339622}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00048181544384936614,-0.0015547682712088264],"position_m":[0.19738181544384936,0.30614523172879116,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006433566886202158,0.0010248318405319439],"position_m":[0.24315664331137976,-0.33317516815946807,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00254698396856757,0.001356039098230618],"position_m":[0.29354698396856754,-0.07564396090176938,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030385938704464524,-0.004686130231530917],"position_m":[0.32756140612955353,0.07621386976846908,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"00fb8fc0acdc467c230a96013e468260cd2f2ec05e3dd1e4aead3b944e0e93c9","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4408/tex_ceiling_textures_7359/tex_floor_textures_1127/tex_table_textures_6505/tex_wall_textures_2934","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5592633431445715189,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5592633431445715189,"visual_seed":5592633431445715189,"scene_id":"lab_003","finished_at":"2026-09-04T07:16:46"}
+{"episode_id":"ep_000010","started_at":"2026-09-04T07:16:49","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.03753198416731818,-1.986498717419558,0.71338606911949],"aabb_xy":[[-0.08750940103257175,-2.036498718908806],[0.012445432697935408,-1.9364987159303093]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[-0.23484362485339993,1.7126259632422047,0.71338606911949],"aabb_xy":[[-0.2500157941350333,1.6974571063140012],[-0.2196714555717666,1.7277948201704079]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.2826861423736676,-1.1675632848750195,0.71338606911949],"aabb_xy":[[0.24518614187630938,-1.171531968423138],[0.32018614287102587,-1.163594601326901]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[-0.6525337082348208,0.8621115234927776,0.71338606911949],"aabb_xy":[[-0.6770473323318268,0.8378469301907411],[-0.6280200841378151,0.886376116794814]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.47087471677448245,1.611913560651708,0.71338606911949],"aabb_xy":[[0.4458747175025202,1.5955681970555455],[0.4958747160464448,1.6282589242478702]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.4081796212662306,-0.5693888798727156,0.71338606911949],"aabb_xy":[[-0.4206469793759663,-0.5818542045060391],[-0.395712263156495,-0.5569235552393921]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[-0.638549298043923,1.4922995261888832,0.71338606911949],"aabb_xy":[[-0.6531927035979559,1.477640806532099],[-0.6239058924898899,1.5069582458456674]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[-0.41371814448944366,0.1412884003679009,0.71338606911949],"aabb_xy":[[-0.4233497807098733,0.131651087588192],[-0.40408650826901404,0.15092571314760983]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[0.08320084888115875,-1.8675643406216773,0.71338606911949],"aabb_xy":[[0.07723430994042296,-1.8735254852810415],[0.08916738782189454,-1.8616031959623132]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.06132467922737195,1.5177733362168584,0.71338606911949],"aabb_xy":[[-0.12532467565469385,1.470603712394762],[0.002675317199949956,1.5649429600389548]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[-0.48617418982101346,-1.9088417111925164,0.71338606911949],"aabb_xy":[[-0.5361584255291907,-1.9588417100060118],[-0.43618995411283623,-1.8588417123790206]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.12106665115658455,1.0333833291289491,0.71338606911949],"aabb_xy":[[-0.20478887665666698,0.9433833255942532],[-0.03734442565650206,1.123383332663645]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.12973481053124714,-1.4563935186945,0.71338606911949],"aabb_xy":[[0.0497348125504621,-1.4639950596563518],[0.2097348085120322,-1.448791977732648]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[0.17742155483484534,-1.3936543832903265,0.71338606911949],"aabb_xy":[[0.15921573117359766,-1.4046797838723182],[0.19562737849609302,-1.382628982708335]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.2191131997424134,1.0765673963635032,0.71338606911949],"aabb_xy":[[0.21515271597267902,1.0688995317779826],[0.22307368351214776,1.0842352609490238]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.46844641688917465,-0.0211514016234573,0.71338606911949],"aabb_xy":[[-0.4859463503231581,-0.03865140154369184],[-0.45094648345519134,-0.003651401703222753]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[-0.6306519210272623,-2.4245376433391046,0.71338606911949],"aabb_xy":[[-0.6481519212723116,-2.442037431178671],[-0.6131519207822128,-2.4070378554995373]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[0.5732599414787174,-0.979199112523127,0.71338606911949],"aabb_xy":[[0.5624083352298418,-0.990058403250778],[0.584111547727593,-0.968339821795476]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[-0.12160106427921558,-1.5948425824848693,0.71338606911949],"aabb_xy":[[-0.12693863994522017,-1.619842583414009],[-0.11626348861321104,-1.5698425815557295]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[0.29723134491937087,-1.0255931543276278,0.71338606911949],"aabb_xy":[[0.26293443390163024,-1.0598900405375689],[0.3315282559371115,-0.9912962681176862]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.3353553159441669,-1.2759303967365476,0.71338606911949],"aabb_xy":[[0.32411026037354906,-1.287172194460643],[0.34660037151478473,-1.2646885990124523]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.6135746816473997,-1.2533683350961875,0.71338606911949],"aabb_xy":[[0.5238876053392842,-1.343368335350638],[0.7032617579555152,-1.163368334841737]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.3269713344941225,-0.734892289121718,0.71338606911949],"aabb_xy":[[0.27295573821222247,-0.798892292013975],[0.38098693077602247,-0.6708922862294607]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.4962560765636994,1.7740564301520547,0.71338606911949],"aabb_xy":[[0.44625607698736475,1.724075851199949],[0.5462560761400341,1.824037009104161]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.045461300699311646,-1.5602941538869775,0.71338606911949],"aabb_xy":[[-0.05623427462067943,-1.5952941521060164],[-0.034688326777943874,-1.5252941556679385]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[0.028036739895951457,-1.1886495627742872,0.71338606911949],"aabb_xy":[[0.024333478566812585,-1.192351581083005],[0.03174000122509032,-1.184947544465569]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6531601828661385,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7689.png","name":"7689"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7689.png","name":"7689"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5621.png","name":"5621"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1642.png","name":"1642"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2473.png","name":"2473"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5631.png","name":"5631"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":592.3882085069637,"rotation_z_degrees":73.07448867315485,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028040361268603722,0.0077809833882887085,-0.011111568026678302]},{"name":"camera_2","offset_m":[-0.006335020442349007,-0.006761025878347175,0.014849770201348911]},{"name":"camera_3","offset_m":[-0.01225432288592283,-0.005442598982416969,-0.01586338057995502]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001527883893227697,-0.0017652669284445085,-0.00044652535058979127],"end_effector_yaw_offset_degrees":0.5665795260066095},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011292609613560572,0.0014526029702363911,-0.0019847855312560034],"end_effector_yaw_offset_degrees":-0.1341314623611638},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012568810369238972,1.16000111551667e-05,0.0009728267672503526],"end_effector_yaw_offset_degrees":-0.7761040929618943}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004362803296731275,-0.0026249144138346635],"position_m":[0.19253719670326871,0.3050750855861653,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004196753218586561,0.0025102534411812465],"position_m":[0.23960324678141343,-0.3316897465588188,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00024245150578664984,0.003950509217767851],"position_m":[0.29124245150578665,-0.07304949078223215,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008504644206933833,0.00484653394856364],"position_m":[0.32974953557930664,0.08574653394856364,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3bf6f3e66864c61a66011af27487acc3fd94a1da0075062cbe2bdd2d0f3822be","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7689/tex_ceiling_textures_5631/tex_floor_textures_2473/tex_table_textures_5621/tex_wall_textures_1642","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3455751954721473348,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3455751954721473348,"visual_seed":3455751954721473348,"scene_id":"lab_003","finished_at":"2026-09-04T07:20:00"}
+{"episode_id":"ep_000011","started_at":"2026-09-04T07:20:03","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.5040955418856741,0.7162870495498992,0.71338606911949],"aabb_xy":[[-0.5104076414220124,0.7105201102966803],[-0.49778344234933564,0.7220539888031179]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[-0.4635188388743374,-0.11971127900603395,0.71338606911949],"aabb_xy":[[-0.5435188362779307,-0.19970385020421677],[-0.38351884147074394,-0.039718707807851146]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.7025020550099212,-0.8352800580407296,0.71338606911949],"aabb_xy":[[0.6954617450763844,-0.9152800574404011],[0.7095423649434583,-0.7552800586410583]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.5775995890270056,0.5759809306165393,0.71338606911949],"aabb_xy":[[-0.6575995911897681,0.4960257469903957],[-0.4975995868642431,0.6559361142426829]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.08533776135425875,-1.3958615163903416,0.71338606911949],"aabb_xy":[[0.015337757962696761,-1.4311772900937723],[0.1553377647458207,-1.3605457426869105]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.09062540433533828,0.6991771550819439,0.71338606911949],"aabb_xy":[[0.07799861704814193,0.6896310813803709],[0.10325219162253463,0.7087232287835167]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.518547937567296,-2.0720174818986123,0.71338606911949],"aabb_xy":[[-0.5272458998580113,-2.084142456206087],[-0.5098499752765807,-2.0598925075911376]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[0.3746984120458232,0.5628523502744289,0.71338606911949],"aabb_xy":[[0.2946984117722163,0.48990280244871215],[0.45469841231943026,0.6358018981001455]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[0.10750661158674335,-1.8050395098937824,0.71338606911949],"aabb_xy":[[0.08500661157659506,-1.8191357295333859],[0.13000661159689164,-1.7909432902541793]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.5130072030757471,-1.2744858434318307,0.71338606911949],"aabb_xy":[[-0.5354719730471522,-1.2969858443106912],[-0.490542433104342,-1.2519858425529702]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[-0.12136911530902594,0.33094279472448296,0.71338606911949],"aabb_xy":[[-0.12740612830969067,0.32491609365553475],[-0.11533210230836123,0.33696949579343116]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.45220974333006203,0.37753588143426775,0.71338606911949],"aabb_xy":[[0.44143676940869425,0.3425358832152288],[0.4629827172514298,0.4125358796533068]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[0.5299064130265074,-0.4411077271174042,0.71338606911949],"aabb_xy":[[0.518337432279571,-0.466107727234336],[0.5414753937734441,-0.4161077270004726]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.16319119472841426,0.676301578454916,0.71338606911949],"aabb_xy":[[0.14651405873531875,0.6596016544809857],[0.17986833072150976,0.6930015024288463]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[-0.14388318012851342,0.8908653281157664,0.71338606911949],"aabb_xy":[[-0.2088831811290139,0.8400789629610914],[-0.07888317912801288,0.9416516932704413]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[-0.6419403442562903,-0.46283294396346664,0.71338606911949],"aabb_xy":[[-0.6794403447536485,-0.466801627511585],[-0.604440343758932,-0.45886426041534817]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.354019842671085,-0.44750619929006685,0.71338606911949],"aabb_xy":[[0.34988398633838486,-0.4850061987344239],[0.35815569900378524,-0.4100061998457099]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.23523692385994893,-1.9167426690227014,0.71338606911949],"aabb_xy":[[-0.28925252014184893,-1.9807426719149583],[-0.18122132757804893,-1.852742666130444]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.2464218639827448,-2.117532632085574,0.71338606911949],"aabb_xy":[[0.15642186724713456,-2.170716095402868],[0.336421860718355,-2.064349168768279]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.3580597509299659,-1.050303700726943,0.71338606911949],"aabb_xy":[[0.30824297146513113,-1.100303699211246],[0.40787653039480065,-1.0003037022426393]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[-0.11833772627744876,0.7539975926130427,0.71338606911949],"aabb_xy":[[-0.13389349568771405,0.7384471593686355],[-0.10278195686718353,0.76954802585745]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.2628747173844013,-1.683204448608381,0.71338606911949],"aabb_xy":[[-0.3268747206030392,-1.7299275605073896],[-0.19887471416576347,-1.636481336709373]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[-0.2496499234233745,1.6299159025876748,0.71338606911949],"aabb_xy":[[-0.2996499220692957,1.5799963589282124],[-0.1996499247774533,1.6798354462471372]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[-0.33335155384550547,0.2997493029148113,0.71338606911949],"aabb_xy":[[-0.3832342507232017,0.24974930366853654],[-0.28346885696780927,0.349749302161086]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6577179299596798,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1398.png","name":"1398"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1398.png","name":"1398"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8042.png","name":"8042"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/291.png","name":"291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6312.png","name":"6312"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3568.png","name":"3568"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":501.20454518869417,"rotation_z_degrees":325.4293885207971,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019109899612763392,-0.014561516144552988,-0.0012868835100138393]},{"name":"camera_2","offset_m":[0.017761962905990396,0.012357679064574145,-0.018728863386926198]},{"name":"camera_3","offset_m":[-0.0063451743972974435,0.018458611890067835,0.0018892279814497759]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003403863851941737,-0.0008389589270942604,0.001983212256395004],"end_effector_yaw_offset_degrees":0.995567941025242},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.210371897232478e-06,0.0015998653075936682,-0.0017778075136785643],"end_effector_yaw_offset_degrees":-0.1643222780469087},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.561625413621183e-05,-5.928265511342392e-05,-0.001508561785079564],"end_effector_yaw_offset_degrees":0.6395718511361768}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006183233641822118,-0.00342032128507079],"position_m":[0.1975183233641822,0.30427967871492917,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021615786419826102,0.004355971283272476],"position_m":[0.2459615786419826,-0.3298440287167275,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014808400554569322,0.0010056910108207587],"position_m":[0.289519159944543,-0.07599430898917924,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022252611560237335,-0.0013511971722368335],"position_m":[0.3283747388439763,0.07954880282776317,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c8c80e66ed657dcfdc9cecfd786e97de4fd030707bfc3077e41a7d51fbede7d2","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0011.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1398/tex_ceiling_textures_3568/tex_floor_textures_6312/tex_table_textures_8042/tex_wall_textures_291","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7452007468436819045,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7452007468436819045,"visual_seed":7452007468436819045,"scene_id":"lab_003","finished_at":"2026-09-04T07:23:17"}
+{"episode_id":"ep_000012","started_at":"2026-09-04T07:23:20","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.10015636844334896,0.5578121300549017,0.71338606911949],"aabb_xy":[[-0.10479148359558234,0.553944794977753],[-0.09552125329111556,0.5616794651320502]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[0.6579444019585134,-0.9225558067901045,0.71338606911949],"aabb_xy":[[0.6499509121632314,-0.9305539387305802],[0.6659378917537955,-0.914557674849629]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.32863239200976624,0.9407176021855488,0.71338606911949],"aabb_xy":[[-0.34613232544374956,0.9232176022653141],[-0.3111324585757828,0.9582176021057832]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[-0.5804662038098832,0.39135390178523544,0.71338606911949],"aabb_xy":[[-0.6354594151470201,0.33635390144644184],[-0.5254729924727466,0.4463539021240291]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.39154866334643756,-0.4547849109336779,0.71338606911949],"aabb_xy":[[0.35404866284907927,-0.4587535944817963],[0.42904866384379575,-0.4508162273855595]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.03159312904056488,-1.9122963739121508,0.71338606911949],"aabb_xy":[[-0.05212909645951758,-2.0022963774468465],[0.11531535454064734,-1.8222963703774548]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[-0.2825018546953877,1.5591240061149159,0.71338606911949],"aabb_xy":[[-0.3324751486986481,1.5091240055603685],[-0.23252856069212718,1.6091240066694632]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[-0.34921097994149447,-1.50153530316151,0.71338606911949],"aabb_xy":[[-0.35850459817864505,-1.5390353016496436],[-0.3399173617043439,-1.4640353046733758]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[0.4508372921185957,-1.5528431185587086,0.71338606911949],"aabb_xy":[[0.4333372918592591,-1.5669346607474817],[0.46833729237793237,-1.5387515763699364]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.4431006176148549,-0.3019508337840735,0.71338606911949],"aabb_xy":[[-0.455033351976683,-0.3143329865919329],[-0.43116788325302685,-0.28956868097621413]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.6979945947177015,-1.8244628956083992,0.71338606911949],"aabb_xy":[[0.6729945954457393,-1.8408082592045616],[0.7229945939896638,-1.808117532012237]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.26992765976461575,1.16705080359353,0.71338606911949],"aabb_xy":[[0.2645951451100028,1.1617264753482945],[0.2752601744192288,1.1723751318387656]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.1149903671541661,1.1552600661545083,0.71338606911949],"aabb_xy":[[-0.13015324013110321,1.1400946088593895],[-0.09982749417722905,1.170425523449627]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[0.5523937429458907,-1.4423095318503762,0.71338606911949],"aabb_xy":[[0.4623937462102804,-1.4954929951676703],[0.6423937396815008,-1.3891260685330813]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.005980139533313,-1.1153813565457276,0.71338606911949],"aabb_xy":[[-0.04348013935034656,-1.1200195678568694],[0.03151986028372056,-1.1107431452345857]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.3771144057218375,1.0993142538212486,0.71338606911949],"aabb_xy":[[-0.4671144022227092,1.0534026114027901],[-0.2871144092209657,1.1452258962397066]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[-0.18037369019116856,0.4495581490885563,0.71338606911949],"aabb_xy":[[-0.21537368850186397,0.4418431341650106],[-0.14537369188047308,0.4572731640121019]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.488120064819644,-2.1846879225180644,0.71338606911949],"aabb_xy":[[0.44593565065881324,-2.248687922795276],[0.5303044789804747,-2.1206879222408537]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.031865028435771214,-1.6470706689232604,0.71338606911949],"aabb_xy":[[-0.03213497297221944,-1.698859620447185],[0.09586502984376188,-1.5952817173993357]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.24982170629334477,0.7219941330229958,0.71338606911949],"aabb_xy":[[0.22460086943350507,0.6967703821701089],[0.2750425431531844,0.7472178838758824]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.3246262572507912,-1.6413151120847433,0.71338606911949],"aabb_xy":[[0.24462625678057526,-1.649625819699092],[0.4046262577210072,-1.6330044044703955]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[0.4036490309040457,-2.4974038619663688,0.71338606911949],"aabb_xy":[[0.3811490308938974,-2.511500081605972],[0.426149030914194,-2.4833076423267655]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[-0.0667447740707161,1.5461152071804203,0.71338606911949],"aabb_xy":[[-0.09002661626884745,1.4611152058831922],[-0.04346293187258477,1.6311152084776483]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[-0.2098206199548875,-1.903198948262137,0.71338606911949],"aabb_xy":[[-0.2998206236318056,-1.9646313548392407],[-0.1198206162779693,-1.841766541685032]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[0.220993311595146,-1.7070058809635862,0.71338606911949],"aabb_xy":[[0.2112373220859721,-1.7167684150228202],[0.23074930110431988,-1.6972433469043513]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[-0.446842541133909,-2.275567652959153,0.71338606911949],"aabb_xy":[[-0.5268425443917519,-2.355564160751137],[-0.366842537876066,-2.195571145167169]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_26","position":[0.30106399264700445,-2.192950234841734,0.71338606911949],"aabb_xy":[[0.24106399205098827,-2.247762707386957],[0.36106399324302063,-2.13813776229651]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_27","position":[-0.5239128372844278,-0.9291075861810276,0.71338606911949],"aabb_xy":[[-0.5879128405030656,-0.9758306980800361],[-0.45991283406578987,-0.8823844742820194]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6578330945110011,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7810.png","name":"7810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7810.png","name":"7810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6647.png","name":"6647"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8331.png","name":"8331"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/240.png","name":"240"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3996.png","name":"3996"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":752.7898708587046,"rotation_z_degrees":20.371770266190673,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012344673733621438,0.005507477175300285,0.015584134722395521]},{"name":"camera_2","offset_m":[-0.008463198830206778,0.017191549576458385,-0.0017243103223997282]},{"name":"camera_3","offset_m":[-0.017929898526116275,-0.017653887339269266,0.01883977089124225]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006447792018946493,-0.00047439358758294024,0.0009263858584003591],"end_effector_yaw_offset_degrees":0.6957864005744436},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013233203272636192,0.0005588021548619962,-0.0007391844198460188],"end_effector_yaw_offset_degrees":0.4152960482154284},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00033184482081051545,0.0010177677552754023,-0.0017798457518645523],"end_effector_yaw_offset_degrees":0.13814234815632354}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002523570378707705,0.0009112216350533322],"position_m":[0.1994235703787077,0.3086112216350533,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026956426332433135,-0.004108489453967051],"position_m":[0.24110435736675667,-0.3383084894539671,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004977661281873414,-0.00406704059786489],"position_m":[0.28602233871812655,-0.08106704059786489,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004916650306175927,-0.0018776411571241694],"position_m":[0.32568334969382406,0.07902235884287583,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a592d250dff726c5640f4f594d61e5c4bbe6fc7e035be9958007263a3fb2b153","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7810/tex_ceiling_textures_3996/tex_floor_textures_240/tex_table_textures_6647/tex_wall_textures_8331","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":9144350269970590612,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":9144350269970590612,"visual_seed":9144350269970590612,"scene_id":"lab_003","finished_at":"2026-09-04T07:26:39"}
+{"episode_id":"ep_000013","started_at":"2026-09-04T07:26:43","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[0.31228798937511826,-1.6584219705750423,0.71338606911949],"aabb_xy":[[0.2747879895580847,-1.663060181886184],[0.3497879891921518,-1.6537837592639004]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.40422153657977544,1.0342268215075707,0.71338606911949],"aabb_xy":[[-0.4217998387687223,1.0166523319334657],[-0.3866432343908286,1.0518013110816757]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.547133711956209,-2.5273075212979332,0.71338606911949],"aabb_xy":[[-0.5846337124535673,-2.5312762048460518],[-0.5096337114588508,-2.5233388377498147]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.5989799726390901,-1.2281907033449027,0.71338606911949],"aabb_xy":[[-0.678979972912697,-1.3011402511706194],[-0.518979972365483,-1.155241155519186]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[-0.3302400278638751,0.7116955362767445,0.71338606911949],"aabb_xy":[[-0.34734210582224323,0.6945887307454748],[-0.3131379499055069,0.7288023418080143]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[-0.015252194386398243,0.8879063357157904,0.71338606911949],"aabb_xy":[[-0.027878981673594594,0.8783602620142175],[-0.002625407099201893,0.8974524094173633]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[0.6480914397849102,-1.0667059608667466,0.71338606911949],"aabb_xy":[[0.6105914396793172,-1.0735281227197278],[0.6855914398905031,-1.0598837990137655]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[-0.2965036503561576,-2.3920243519145274,0.71338606911949],"aabb_xy":[[-0.3025406633568224,-2.398051052983476],[-0.29046663735549294,-2.38599765084558]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[0.23211418431868291,1.315818002319435,0.71338606911949],"aabb_xy":[[0.16811418110004508,1.2690948904204267],[0.29611418753732077,1.3625411142184434]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[0.45575282013600815,-1.6966672610654343,0.71338606911949],"aabb_xy":[[0.4319166024954032,-1.7866672618739212],[0.4795890377766133,-1.6066672602569483]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[0.33864802376335645,-0.9089714515786191,0.71338606911949],"aabb_xy":[[0.3293010161810612,-0.9232750737962632],[0.3479950313456517,-0.8946678293609751]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.6338974058511408,-2.5111322555854985,0.71338606911949],"aabb_xy":[[0.61172487887449,-2.533307922741621],[0.6560699328277917,-2.488956588429375]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.5353204950027997,1.2589100377902822,0.71338606911949],"aabb_xy":[[0.45532049634591365,1.2444051788660193],[0.6153204936596857,1.273414896714545]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[0.7022115012097878,-1.9368385597340672,0.71338606911949],"aabb_xy":[[0.6945872331196096,-1.944471783270611],[0.7098357692999661,-1.9292053361975237]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[-0.08164496555430012,1.553871826435429,0.71338606911949],"aabb_xy":[[-0.08722663718842888,1.5413718266176533],[-0.07606329392017136,1.5663718262532043]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[0.6058068097583662,1.6658862009379622,0.71338606911949],"aabb_xy":[[0.5978128211806627,1.6578861208428717],[0.6138007983360695,1.6738862810330524]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.5736657275217476,0.019277650354394105,0.71338606911949],"aabb_xy":[[0.5628252492952327,0.0020913690637452964],[0.5845062057482625,0.03646393164504291]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[0.592070462216568,1.723798701033672,0.71338606911949],"aabb_xy":[[0.5695704624026656,1.7193240846631914],[0.6145704620304704,1.728273317404153]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.5600812935601369,-1.4693465110825732,0.71338606911949],"aabb_xy":[[-0.6177117624474077,-1.5293465100092831],[-0.502450824672866,-1.4093465121558622]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.4838563018874832,0.5080003896440726,0.71338606911949],"aabb_xy":[[-0.5266230087669033,0.4440003862222701],[-0.44108959500806294,0.572000393065875]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[-0.6097498003486236,-0.20985597280068813,0.71338606911949],"aabb_xy":[[-0.6747497985045425,-0.23615221735060032],[-0.5447498021927044,-0.18355972825077593]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.6463065721823662,-1.1888021827485584,0.71338606911949],"aabb_xy":[[0.5963117392544246,-1.238802181643802],[0.6963014051103078,-1.1388021838533149]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.1686501678366923,-2.0991276885077523,0.71338606911949],"aabb_xy":[[0.11865016747612621,-2.149107675717355],[0.21865016819725833,-2.049147701298149]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[0.290358566850513,1.4762705816824462,0.71338606911949],"aabb_xy":[[0.24054178738567822,1.4262705831981426],[0.34017534631534774,1.5262705801667493]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_24","position":[-0.3653438811712793,-1.8078017739653989,0.71338606911949],"aabb_xy":[[-0.3734715693645925,-1.8167153823761066],[-0.3572161929779661,-1.798888165554691]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_25","position":[-0.12224858954908158,0.5892735964551687,0.71338606911949],"aabb_xy":[[-0.13569511618312488,0.5758037448020774],[-0.10880206291503822,0.6027434481082599]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[-0.009488826908273351,1.6793567819125594,0.71338606911949],"aabb_xy":[[-0.055573918163004825,1.6153567846600043],[0.03659626434645812,1.7433567791651146]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555011460452417,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7969.png","name":"7969"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7969.png","name":"7969"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8804.png","name":"8804"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5205.png","name":"5205"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/586.png","name":"586"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/112.png","name":"112"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":617.264521410304,"rotation_z_degrees":90.2340753690244,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014950826148832745,0.005891948763784589,-0.017343543499645838]},{"name":"camera_2","offset_m":[0.006971132850573901,0.015298594280512407,-0.01780978306672915]},{"name":"camera_3","offset_m":[-0.00979727550828098,-0.003174515724571246,0.005296915946632015]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008005906450127935,0.0008543765110904538,-0.0011265674646704347],"end_effector_yaw_offset_degrees":-0.4543165003167069},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001823703103536591,0.00011655582563590812,0.00142426897606768],"end_effector_yaw_offset_degrees":-0.5615196493496606},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000763985773483895,0.0011171099678016494,-2.9389261753592216e-05],"end_effector_yaw_offset_degrees":-0.24379069982011958}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033562483239750933,-0.0011807450303211219],"position_m":[0.2002562483239751,0.30651925496967886,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00039678131773853136,0.004365250190475327],"position_m":[0.24340321868226145,-0.32983474980952465,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004445791231481881,0.002198559027260216],"position_m":[0.29544579123148185,-0.07480144097273979,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017850591778347468,0.0047707043006616654],"position_m":[0.3288149408221653,0.08567070430066166,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c6cee4080e33c2d45f33b6842b7dc7957c8c202cb89113a94c2fe92f4a7356f3","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0013.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7969/tex_ceiling_textures_112/tex_floor_textures_586/tex_table_textures_8804/tex_wall_textures_5205","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":210666606585272423,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":210666606585272423,"visual_seed":210666606585272423,"scene_id":"lab_003","finished_at":"2026-09-04T07:29:45"}
+{"episode_id":"ep_000014","started_at":"2026-09-04T07:29:48","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[0.6356260915347343,1.2490861638018362,0.71338606911949],"aabb_xy":[[0.6006260915582384,1.2396215477542198],[0.6706260915112301,1.258550779849453]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[0.1466204176018724,-1.17331479680561,0.71338606911949],"aabb_xy":[[0.1411624719648523,-1.253314800113269],[0.15207836323889243,-1.0933147934979508]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[0.5263748343527648,0.48951364976128664,0.71338606911949],"aabb_xy":[[0.4714011123164319,0.4345136501970535],[0.5813485563890977,0.5445136493255198]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.39856291265905924,-0.3541491808748911,0.71338606911949],"aabb_xy":[[-0.43200308785507885,-0.3875928067058211],[-0.36512273746303964,-0.3207055550439609]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.1774451253378383,0.6855239631167893,0.71338606911949],"aabb_xy":[[-0.1847063729082457,0.6727369528532798],[-0.17018387776743088,0.6983109733802988]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[0.09944045884182551,-1.9408375050597404,0.71338606911949],"aabb_xy":[[0.06484937598778028,-2.005837505344771],[0.1340315416958707,-1.875837504774709]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.5687432008876288,0.31287179555179767,0.71338606911949],"aabb_xy":[[-0.6587432032216478,0.23538944096668507],[-0.4787431985536097,0.3903541501369104]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[-0.09695913979521953,-1.8810008453038094,0.71338606911949],"aabb_xy":[[-0.11406121775358768,-1.898107650835079],[-0.07985706183685137,-1.8638940397725394]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[-0.2374069849006188,0.08751186950106815,0.71338606911949],"aabb_xy":[[-0.27390280552789753,0.051027927074310586],[-0.20091116427334005,0.12399581192782572]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.1198788608423842,1.7423793914201613,0.71338606911949],"aabb_xy":[[-0.18987886347897054,1.7222745264242953],[-0.049878858205797835,1.7624842564160264]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.23734653761020663,1.2987099372821165,0.71338606911949],"aabb_xy":[[-0.2549248397991535,1.2811354477080115],[-0.21976823542125976,1.3162844268562215]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.5746225022867504,-0.4361477329824921,0.71338606911949],"aabb_xy":[[0.5590667328764852,-0.4516981662268994],[0.5901782716970158,-0.420597299738085]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.6538972213780598,-1.6270506276477694,0.71338606911949],"aabb_xy":[[0.6347849140200809,-1.6461854065250114],[0.6730095287360386,-1.6079158487705274]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.5846471106043822,-1.6626073996100388,0.71338606911949],"aabb_xy":[[-0.6496471132421757,-1.7140869983094857],[-0.5196471079665888,-1.6111278009105918]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[0.5310236276602134,-1.2230354113117308,0.71338606911949],"aabb_xy":[[0.519255440865556,-1.3080354112169525],[0.542791814454871,-1.1380354114065094]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[0.08250481508925656,0.7303831260759521,0.71338606911949],"aabb_xy":[[0.017504814088756038,0.6795967609212772],[0.14750481608975707,0.7811694912306271]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[-0.4852755938249206,1.508481133326319,0.71338606911949],"aabb_xy":[[-0.5352755951858078,1.4585032287509032],[-0.4352755924640334,1.5584590379017345]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[0.4414408141273658,-0.25932662084451596,0.71338606911949],"aabb_xy":[[0.42394081499299857,-0.2692062478821038],[0.4589408132617329,-0.24944699380692817]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[-0.44837443445287484,-1.838438201653418,0.71338606911949],"aabb_xy":[[-0.4556567508295383,-1.928438205262927],[-0.441092118076211,-1.748438198043909]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[-0.31302267228980096,-1.795736375983477,0.71338606911949],"aabb_xy":[[-0.32072586296387795,-1.803445746682215],[-0.30531948161572386,-1.7880270052847387]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.3885381652453494,-0.7358639857996012,0.71338606911949],"aabb_xy":[[-0.44353816486709524,-0.790847678587074],[-0.33353816562360356,-0.6808802930121286]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[0.10137791771473104,-0.9779887913045195,0.71338606911949],"aabb_xy":[[0.04637791853814155,-1.0329784660794772],[0.15637791689132052,-0.9229991165295618]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.24417931329690334,-1.7629830878085921,0.71338606911949],"aabb_xy":[[0.18017931690133024,-1.8269463762273255],[0.3081793096924764,-1.6990197993898584]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.45361325114529044,1.246334494716391,0.71338606911949],"aabb_xy":[[-0.46085701719153577,1.1663344965127886],[-0.4463694850990451,1.3263344929199934]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[-0.2151661011053883,-0.4072217673393981,0.71338606911949],"aabb_xy":[[-0.27916609821749405,-0.45625413713380875],[-0.15116610399328265,-0.3581893975449875]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[0.1115467302568024,-2.318355399989736,0.71338606911949],"aabb_xy":[[0.08155506752293205,-2.3483553993265365],[0.14153839299067272,-2.2883554006529354]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_26","position":[-0.5787960257821301,1.238777197834581,0.71338606911949],"aabb_xy":[[-0.5867900143598335,1.2307771177394904],[-0.5708020372044267,1.246777277929671]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_27","position":[-0.1879952399109217,-0.11944307358431283,0.71338606911949],"aabb_xy":[[-0.19403225291158646,-0.12546977465326103],[-0.18195822691025698,-0.11341637251536463]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_28","position":[0.39210763994712416,-0.7508608745455259,0.71338606911949],"aabb_xy":[[0.3774642343930911,-0.76551959420231],[0.4067510455011571,-0.7362021548887415]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_29","position":[-0.6360861763451744,0.6185565182471877,0.71338606911949],"aabb_xy":[[-0.6454331839274696,0.6042528960295437],[-0.6267391687628792,0.6328601404648317]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[0.688390398962301,-0.9513175078412783,0.71338606911949],"aabb_xy":[[0.6834343787774199,-0.9738175080434001],[0.6933464191471822,-0.9288175076391568]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_31","position":[0.31805422015319373,1.8028611763708562,0.71338606911949],"aabb_xy":[[0.30289134717625665,1.7876957190757377],[0.3332170931301308,1.8180266336659752]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_32","position":[0.4284962642880077,-1.9022010718132623,0.71338606911949],"aabb_xy":[[0.40349626473626926,-1.912343555678397],[0.4534962638397462,-1.8920585879481275]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6581178554517038,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5784.png","name":"5784"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5784.png","name":"5784"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8006.png","name":"8006"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6977.png","name":"6977"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7958.png","name":"7958"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9564.png","name":"9564"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":705.1482362329443,"rotation_z_degrees":107.92987000407142,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010912653943807686,-0.004856989495337945,-0.003397017959819393]},{"name":"camera_2","offset_m":[-0.010608016646123097,-0.01318222044762016,0.017761396964026944]},{"name":"camera_3","offset_m":[-0.0021716669589834994,0.016385349347851973,0.006010092581234579]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015192278291833584,0.001162835505343625,-0.0004405831848989226],"end_effector_yaw_offset_degrees":0.91016507445175},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015128149685052794,-0.0015451745644584718,-0.0010455242916194893],"end_effector_yaw_offset_degrees":-0.10365882731474962},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009249779743732295,0.00026353614111395947,-0.0001347334927137571],"end_effector_yaw_offset_degrees":0.7291190267181968}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004433159608573073,0.0026827108514421542],"position_m":[0.19246684039142692,0.31038271085144215,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009958194306583712,-0.0018156802838767963],"position_m":[0.2428041805693416,-0.3360156802838768,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002806263626513881,-0.004032469589842147],"position_m":[0.2881937363734861,-0.08103246958984214,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00164145135646034,-3.61597938591e-05],"position_m":[0.3322414513564603,0.0808638402061409,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"81f894102b324e28bc6bd6f4ec4e2287080427c06e3f035054e38e929eb5b4aa","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5784/tex_ceiling_textures_9564/tex_floor_textures_7958/tex_table_textures_8006/tex_wall_textures_6977","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6420422251166068075,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6420422251166068075,"visual_seed":6420422251166068075,"scene_id":"lab_003","finished_at":"2026-09-04T07:33:18"}
+{"episode_id":"ep_000015","started_at":"2026-09-04T07:33:22","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_0","position":[0.43503618444825376,-0.6558494398200208,0.71338606911949],"aabb_xy":[[0.3850519487400765,-0.7058494386335163],[0.48502042015643093,-0.6058494410065252]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[0.2683355372736578,-0.875265786332192,0.71338606911949],"aabb_xy":[[0.2622409093855395,-0.8838351808838607],[0.27443016516177615,-0.8666963917805233]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.5978989180380415,0.8701229603174889,0.71338606911949],"aabb_xy":[[-0.6110501640093309,0.8451229605608026],[-0.5847476720667522,0.8951229600741757]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[0.6188618272683086,-0.8388253069193534,0.71338606911949],"aabb_xy":[[0.6100597719593359,-0.8466366330742824],[0.6276638825772813,-0.8310139807644242]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[0.12425729044882194,-0.79423613996692,0.71338606911949],"aabb_xy":[[0.07024169416692193,-0.858236142859177],[0.17827288673072195,-0.7302361370746627]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[0.44000714118736783,-0.8589876302681467,0.71338606911949],"aabb_xy":[[0.3600071401142475,-0.8687656766055312],[0.5200071422604882,-0.8492095839307623]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[-0.35896450158581295,1.1844193337827686,0.71338606911949],"aabb_xy":[[-0.4489644983214231,1.1312358704654741],[-0.2689645048502027,1.2376027971000632]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.3397316756634182,-0.662965727242441,0.71338606911949],"aabb_xy":[[-0.37419402306155997,-0.6974596096402634],[-0.30526932826527636,-0.628471844844618]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[0.6162461518971678,-0.16429321639477035,0.71338606911949],"aabb_xy":[[0.5362461533098483,-0.24360881833293124],[0.6962461504844871,-0.08497761445660947]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.2769571730830397,1.011158454895995,0.71338606911949],"aabb_xy":[[0.22695717172215243,0.9611805503205796],[0.32695717444392686,1.0611363594714107]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[0.5728633623835004,1.4789619599141708,0.71338606911949],"aabb_xy":[[0.5655810460068366,1.3889619563046613],[0.5801456787601639,1.5689619635236793]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[0.2821636188260498,-1.2865646812934728,0.71338606911949],"aabb_xy":[[0.26700074584911276,-1.3017301385885915],[0.2973264918029869,-1.271399223998354]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[-0.16753793206382983,-0.6184995369715349,0.71338606911949],"aabb_xy":[[-0.19538296884443696,-0.6492840357098467],[-0.1396928952832227,-0.5877150382332234]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.04414089926681963,1.0060708550338848,0.71338606911949],"aabb_xy":[[-0.057012802767759774,0.9260708546200488],[-0.03126899576587949,1.086070855447721]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[-0.4953877177868351,-1.722609946671584,0.71338606911949],"aabb_xy":[[-0.5553877180382363,-1.7768912717080485],[-0.43538771753543387,-1.6683286216351192]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[0.013423784034221509,0.7803926777953327,0.71338606911949],"aabb_xy":[[0.0015517010227203976,0.6953926781016823],[0.02529586704572262,0.865392677488983]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[0.4043364095898412,0.7500266837802108,0.71338606911949],"aabb_xy":[[0.33933640858934067,0.6992403186255357],[0.4693364105903417,0.8008130489348856]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[0.17890210695308328,-2.2011647169427624,0.71338606911949],"aabb_xy":[[0.16199137451674148,-2.2146369225353766],[0.19581283938942504,-2.1876925113501473]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[-0.2842565948448458,0.6707995863409679,0.71338606911949],"aabb_xy":[[-0.36425041842340405,0.5907995837481264],[-0.2042627712662876,0.7507995889338095]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.5975666815951766,1.0063634082781112,0.71338606911949],"aabb_xy":[[0.5275666799928971,0.9929306150764536],[0.667566683197456,1.0197962014797688]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.43135057040996627,-1.46449057150623,0.71338606911949],"aabb_xy":[[0.3613505682785367,-1.4872525371319252],[0.5013505725413958,-1.4417286058805339]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[-0.24570978424118972,-1.2163615511359487,0.71338606911949],"aabb_xy":[[-0.29070978570741857,-1.2613614079974296],[-0.2007097827749609,-1.1713616942744682]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.42179887964335583,0.020414829649269883,0.71338606911949],"aabb_xy":[[0.4176829295312831,0.016299274616424383],[0.42591482975542844,0.024530384682115377]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_23","position":[-0.6385795937281246,-0.31399631376768555,0.71338606911949],"aabb_xy":[[-0.6760795938999964,-0.3466970491505927],[-0.6010795935562525,-0.2812955783847783]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[0.4699113607354115,1.3277618784288903,0.71338606911949],"aabb_xy":[[0.45744400262567586,1.3152965537955665],[0.48237871884514716,1.3402272030622135]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_25","position":[-0.22190502673498913,0.3809263704488415,0.71338606911949],"aabb_xy":[[-0.23940502699432584,0.3668348282600689],[-0.2044050264756526,0.3950179126376142]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[-0.4085842713236471,-0.8949452673924896,0.71338606911949],"aabb_xy":[[-0.4885842683378951,-0.9150798190659009],[-0.3285842743093991,-0.8748107157190783]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_27","position":[0.5074411015953164,-2.5803894681697455,0.71338606911949],"aabb_xy":[[0.501129002058978,-2.586156407422964],[0.5137532011316548,-2.5746225289165268]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_28","position":[-0.43104016148757157,-0.1853633536108017,0.71338606911949],"aabb_xy":[[-0.4860333728247084,-0.24036335394959532],[-0.3760469501504349,-0.1303633532720081]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_29","position":[0.6359009037550092,1.4373456942926386,0.71338606911949],"aabb_xy":[[0.6282766356648309,1.4297124707560946],[0.6435251718451874,1.444978917829182]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_30","position":[-0.6062829533047188,0.025515386960925035,0.71338606911949],"aabb_xy":[[-0.6862829519616048,0.011010528036662248],[-0.5262829546478328,0.04002024588518782]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_31","position":[-0.07072844213459584,0.47087011777325527,0.71338606911949],"aabb_xy":[[-0.13072844264244876,0.41402338408733397],[-0.010728441626742925,0.5277168514591766]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_32","position":[-0.36157951995349646,0.40056416336165146,0.71338606911949],"aabb_xy":[[-0.3688407675239039,0.38777715309814204],[-0.35431827238308905,0.413351173625161]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.658760546936957,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5379.png","name":"5379"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5379.png","name":"5379"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7433.png","name":"7433"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1275.png","name":"1275"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6565.png","name":"6565"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8090.png","name":"8090"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":666.2930061128556,"rotation_z_degrees":145.03211898386195,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013558335027614832,0.0009099172137732731,-0.008181372083430087]},{"name":"camera_2","offset_m":[0.00014828783905072862,0.008496953425537707,0.010247822088146431]},{"name":"camera_3","offset_m":[0.009476850797163771,0.01675652452546036,0.007592759655809345]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012197920439003162,-0.0005234571038042141,0.0018278561035821495],"end_effector_yaw_offset_degrees":0.17503406949110478},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003262793718502048,-0.0010347733863852954,-0.0007873566087230671],"end_effector_yaw_offset_degrees":-0.6212155571172773},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00022929504031677555,0.0010965898160171126,0.00019565448048018512],"end_effector_yaw_offset_degrees":-0.8642911060653264}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00021733752147660122,-0.004820031162501867],"position_m":[0.1971173375214766,0.3028799688374981,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004960270942104073,-0.0022327481065845876],"position_m":[0.2433039729057896,-0.3364327481065846,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011720151571998627,0.001975596515880036],"position_m":[0.28982798484280015,-0.07502440348411996,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004793845852869236,-0.003380444753951133],"position_m":[0.33539384585286924,0.07751955524604887,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"55dea5254519240a22a373e0897f308656f74a24851cacb4138e2b6e24475a44","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5379/tex_ceiling_textures_8090/tex_floor_textures_6565/tex_table_textures_7433/tex_wall_textures_1275","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2112613536737774975,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2112613536737774975,"visual_seed":2112613536737774975,"scene_id":"lab_003","finished_at":"2026-09-04T07:36:30"}
+{"episode_id":"ep_000016","started_at":"2026-09-04T07:36:33","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[-0.20063457261601203,-0.4995137219563599,0.71338606911949],"aabb_xy":[[-0.22692339693645266,-0.5257851556110111],[-0.17434574829557134,-0.47324228830170867]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.31436279272001433,-0.29804575633772457,0.71338606911949],"aabb_xy":[[-0.3448470428470444,-0.3480457561192205],[-0.2838785425929841,-0.24804575655622862]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[-0.627413819491672,0.7510282566288726,0.71338606911949],"aabb_xy":[[-0.6745431984935075,0.6870282555844707],[-0.5802844404898362,0.8150282576732746]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[0.06290406195866305,-0.626150892339914,0.71338606911949],"aabb_xy":[[0.055491606417274575,-0.6320021027615419],[0.07031651750005152,-0.620299681918286]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[-0.2915170896479496,0.8054442569561533,0.71338606911949],"aabb_xy":[[-0.2959477190027898,0.7999958852214707],[-0.28708646029310947,0.8108926286908359]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.49844623211080064,-1.0991880193823336,0.71338606911949],"aabb_xy":[[-0.5884462288464107,-1.1523714826996279],[-0.40844623537519037,-1.0460045560650388]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.4246767286622508,0.7123617482632705,0.71338606911949],"aabb_xy":[[0.36067672840178,0.6673529489103425],[0.4886767289227216,0.7573705476161985]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[0.34761663710422175,-0.8056743633254069,0.71338606911949],"aabb_xy":[[0.32572688951528095,-0.895674360614656],[0.36950638469316255,-0.7156743660361577]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.7093250395783761,0.37747245639081006,0.71338606911949],"aabb_xy":[[0.7022835886276285,0.3704457046530155],[0.7163664905291237,0.3844992081286046]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[0.5811524659755085,1.4236929717588542,0.71338606911949],"aabb_xy":[[0.5011524657019014,1.3507434239331375],[0.6611524662491154,1.496642519584571]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.08179641786468161,-1.5716381986813646,0.71338606911949],"aabb_xy":[[0.021796417268665436,-1.6264506712265883],[0.1417964184606978,-1.5168257261361413]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[0.5790083808367077,-0.9507535524563191,0.71338606911949],"aabb_xy":[[0.5290083791752128,-1.0007519947120214],[0.6290083824982023,-0.9007551102006162]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[-0.16721994211542768,0.6263224931856355,0.71338606911949],"aabb_xy":[[-0.17778742177352666,0.6157774630726268],[-0.15665246245732864,0.6368675232986439]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.22400444255985902,-2.150390633796419,0.71338606911949],"aabb_xy":[[-0.3039982661384172,-2.2303906363892607],[-0.14401061898130077,-2.0703906312035776]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.4178510069050636,-2.1078965216120955,0.71338606911949],"aabb_xy":[[0.41300741214383363,-2.1127481740910796],[0.4226946016662936,-2.1030448691331114]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[0.6141306692690653,-1.1421942204152717,0.71338606911949],"aabb_xy":[[0.5501306672193333,-1.18228870350458],[0.6781306713187973,-1.102099737325964]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.21779699223477111,0.6970619624873282,0.71338606911949],"aabb_xy":[[0.1277969885578529,0.6356295559102237],[0.30779699591168924,0.7584943690644323]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.10190804208111548,-0.8962868248175222,0.71338606911949],"aabb_xy":[[0.06944634119918801,-0.9264196569324247],[0.1343697429630429,-0.8661539927026195]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[-0.043392489377325316,-0.7676858835939397,0.71338606911949],"aabb_xy":[[-0.07798357223137051,-0.8326858838789708],[-0.008801406523280089,-0.7026858833089087]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[0.03935902612177944,1.5083318178888114,0.71338606911949],"aabb_xy":[[0.015773902657884586,1.4433318156433796],[0.06294414958567429,1.5733318201342432]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.6447666995494552,0.54953618776107,0.71338606911949],"aabb_xy":[[0.607266699052097,0.5455675042129516],[0.6822667000468134,0.5535048713091885]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.5600571867511261,0.17193938699669475,0.71338606911949],"aabb_xy":[[0.5225571866455331,0.16511722514371363],[0.597557186856719,0.17876154884967588]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.3787979990765814,0.33329059622372004,0.71338606911949],"aabb_xy":[[-0.3848350120772462,0.3272638951547719],[-0.3727609860759167,0.3393172972926683]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.08561465208369234,-1.335352535202767,0.71338606911949],"aabb_xy":[[-0.110835488943532,-1.3605762860556536],[-0.06039381522385267,-1.3101287843498801]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[-0.5768308614980029,-2.385172641671718,0.71338606911949],"aabb_xy":[[-0.5993308617415183,-2.39737727633149],[-0.5543308612544875,-2.372968007011946]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[-0.13367216234607515,-1.4746989336192302,0.71338606911949],"aabb_xy":[[-0.19367216285392805,-1.5315456673051515],[-0.07367216183822221,-1.417852199933309]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[0.5886515180498322,-0.6725063675038263,0.71338606911949],"aabb_xy":[[0.5821498815418276,-0.6822741895301361],[0.5951531545578368,-0.6627385454775165]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.6615569950686275,-0.29277305081556726,0.71338606911949],"aabb_xy":[[0.6242257185433849,-0.3274261056104196],[0.6988882715938701,-0.258119996020715]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_28","position":[-0.28381250894319376,-1.313381655926399,0.71338606911949],"aabb_xy":[[-0.3438125105861156,-1.3653818052183433],[-0.2238125073002719,-1.261381506634455]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6533568046670873,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1594.png","name":"1594"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1594.png","name":"1594"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8008.png","name":"8008"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5285.png","name":"5285"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/858.png","name":"858"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6519.png","name":"6519"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":751.7048248294296,"rotation_z_degrees":341.71123461777233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002268384479836981,-0.015145736420827305,-0.015824075497946972]},{"name":"camera_2","offset_m":[-0.016047732558844154,-0.01065865700752807,-0.015039011005098302]},{"name":"camera_3","offset_m":[0.018567733408669126,-0.013305418482434508,-0.012639513347611535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019834032683358795,0.0011761942721818797,2.177459956657869e-05],"end_effector_yaw_offset_degrees":-0.20843183533299148},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017187526827796592,-0.0009317811155845788,-0.0014665434130716447],"end_effector_yaw_offset_degrees":-0.28524692536923935},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015042712409676037,0.0004482027946288384,0.0012382238718593105],"end_effector_yaw_offset_degrees":0.22429468165264432}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003212739488608258,1.2663517834837074e-05],"position_m":[0.19368726051139173,0.30771266351783483,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027552141192365566,0.004577917964432187],"position_m":[0.24104478588076345,-0.3296220820355678,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003353879104481564,0.0023290440861099227],"position_m":[0.28764612089551844,-0.07467095591389007,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013149730814613105,0.0034796867143046936],"position_m":[0.33191497308146134,0.0843796867143047,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fec74c965d3077cb6a297fcd23d2eb5602e8f67b0dbffa5c13ff509dd0354a1c","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0016.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1594/tex_ceiling_textures_6519/tex_floor_textures_858/tex_table_textures_8008/tex_wall_textures_5285","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8886018588702090822,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8886018588702090822,"visual_seed":8886018588702090822,"scene_id":"lab_003","finished_at":"2026-09-04T07:39:45"}
+{"episode_id":"ep_000017","started_at":"2026-09-04T07:39:48","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[-0.4328039633241547,0.7749064448029581,0.71338606911949],"aabb_xy":[[-0.4828039636847207,0.7249264575933551],[-0.3828039629635886,0.824886432012561]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[-0.38473574286191814,1.1620966522278935,0.71338606911949],"aabb_xy":[[-0.39177719381266574,1.155069900490099],[-0.37769429191117054,1.169123403965688]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[0.24901941866789412,-0.6715106501943953,0.71338606911949],"aabb_xy":[[0.1690194215083188,-0.6830582511522122],[0.3290194158274694,-0.6599630492365781]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.345166190246738,-1.8898827849313484,0.71338606911949],"aabb_xy":[[0.33193524471205665,-1.9031102039533478],[0.35839713578141924,-1.876655365909349]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[0.1974790156025955,-1.8819143932816869,0.71338606911949],"aabb_xy":[[0.1878473793821659,-1.8915517060613958],[0.20711065182302513,-1.872277080501978]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.553175846940978,0.366834648718648,0.71338606911949],"aabb_xy":[[0.46348877063286253,0.2768346484641975],[0.6428629232490934,0.45683464897309856]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[-0.026495876225921755,0.841054298288388,0.71338606911949],"aabb_xy":[[-0.0841263451131926,0.7810542993616773],[0.0311345926613491,0.9010542972150984]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[0.6493286722508536,-2.2397419717244507,0.71338606911949],"aabb_xy":[[0.5843286711449103,-2.264707344792579],[0.7143286733567968,-2.2147765986563224]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.5679722843698911,0.663003638671237,0.71338606911949],"aabb_xy":[[0.5429722850979288,0.6466582750750746],[0.5929722836418534,0.6793490022673992]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.08980165942792528,-2.4815557036595313,0.71338606911949],"aabb_xy":[[-0.12730166061271803,-2.485973926355591],[-0.052301658243132466,-2.47713748096347]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.6537145990145699,-1.2524254210552375,0.71338606911949],"aabb_xy":[[0.6037145980640369,-1.2839745680587586],[0.7037145999651025,-1.2208762740517158]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.29252986837657824,0.8926416440374889,0.71338606911949],"aabb_xy":[[0.2854895584430413,0.8126416446378177],[0.2995701783101153,0.9726416434371605]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[-0.2192681419436583,1.5645302805297203,0.71338606911949],"aabb_xy":[[-0.23681483685977722,1.527030278965469],[-0.20172144702753936,1.6020302820939716]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[0.6336363178486502,1.1686993358964268,0.71338606911949],"aabb_xy":[[0.61475193408014,1.149813411116074],[0.6525207016171604,1.1875852606767796]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[0.5411992746303036,-2.394567189116539,0.71338606911949],"aabb_xy":[[0.4611992759734177,-2.4090720480408025],[0.6211992732871897,-2.3800623301922768]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.21653583577524138,-0.5431239814082005,0.71338606911949],"aabb_xy":[[0.1990358364971545,-0.5604620814745465],[0.23403583505332826,-0.5257858813418546]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[-0.6301738761653027,1.0750423256369026,0.71338606911949],"aabb_xy":[[-0.6646362235634443,1.0405484432390795],[-0.5957115287671607,1.1095362080347249]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[0.5890732153938218,-0.22986160952111812,0.71338606911949],"aabb_xy":[[0.5715732162594546,-0.2397412365587059],[0.6065732145281889,-0.21998198248353026]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[0.12488788942575468,-1.33556909161338,0.71338606911949],"aabb_xy":[[0.04488788835263435,-1.3453471379507647],[0.204887890498875,-1.3257910452759958]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.1537429747294604,-1.6740316821211207,0.71338606911949],"aabb_xy":[[0.14504501243874512,-1.6861566564285957],[0.1624409370201757,-1.6619067078136462]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[0.43091164177478647,1.5396413353848089,0.71338606911949],"aabb_xy":[[0.4004273916477563,1.489641335603313],[0.4613958919018166,1.5896413351663048]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[0.2073169590206858,-2.1707513462814942,0.71338606911949],"aabb_xy":[[0.17028284959262607,-2.2051285536152037],[0.2443510684487455,-2.136374138947785]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642740999946473,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4897.png","name":"4897"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4897.png","name":"4897"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4539.png","name":"4539"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7.png","name":"7"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2960.png","name":"2960"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/506.png","name":"506"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":710.8484867921952,"rotation_z_degrees":246.72991622333726,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004315970152095193,0.0068678414856745695,0.01586783384826095]},{"name":"camera_2","offset_m":[-0.003000943679253302,-0.019771909867806556,0.014603596541652417]},{"name":"camera_3","offset_m":[-0.015338292463081462,-0.01834150501712962,-0.0008650000845607936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019468116644472217,-8.980683336447812e-05,0.0017607314491778305],"end_effector_yaw_offset_degrees":-0.8570086367521736},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012167125664154337,-0.0018567992490449493,-0.0017015772359704924],"end_effector_yaw_offset_degrees":0.9225479953409701},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014059817353637835,-0.00019192933950983406,0.0010769977571668523],"end_effector_yaw_offset_degrees":0.43436762341521495}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004376765006525581,0.0007033352836390725],"position_m":[0.20127676500652558,0.30840333528363906,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0049034774084221805,-0.003936387569094768],"position_m":[0.24870347740842216,-0.33813638756909475,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0001115055645191012,0.0031013834335492036],"position_m":[0.2911115055645191,-0.07389861656645079,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002659129300662958,-0.0022012296649013487],"position_m":[0.3308659129300663,0.07869877033509864,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4f6c788a58384858f988b2c0ad48006ba277078deb32ffe265428e80303fd647","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4897/tex_ceiling_textures_506/tex_floor_textures_2960/tex_table_textures_4539/tex_wall_textures_7","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7845028057385000576,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7845028057385000576,"visual_seed":7845028057385000576,"scene_id":"lab_003","finished_at":"2026-09-04T07:43:05"}
+{"episode_id":"ep_000018","started_at":"2026-09-04T07:43:11","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[-0.3958224302717947,1.7505376210827568,0.71338606911949],"aabb_xy":[[-0.45982243064932826,1.7007923542319445],[-0.33182242989426103,1.800282887933569]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.09488257736451067,-0.6161975516327383,0.71338606911949],"aabb_xy":[[-0.14485587136777112,-0.6661975521872855],[-0.04490928336125022,-0.5661975510781908]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.0025258028786602216,0.9017729785991144,0.71338606911949],"aabb_xy":[[-0.04377461390857495,0.846772979086897],[0.038723008151254505,0.9567729781113319]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[0.16662738041426017,-0.8019056116122387,0.71338606911949],"aabb_xy":[[0.14334553821612883,-0.8869056129094666],[0.18990922261239152,-0.7169056103150104]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[0.41424582950432587,-1.6237584897137967,0.71338606911949],"aabb_xy":[[0.3442458279020464,-1.6371912829154542],[0.48424583110660535,-1.610325696512139]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.2627865894034441,-2.2313309454473775,0.71338606911949],"aabb_xy":[[-0.31278658976401014,-2.28131093265698],[-0.21278658904287803,-2.181350958237774]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.5458338501043238,-2.5690988161652077,0.71338606911949],"aabb_xy":[[-0.5833338516199555,-2.580325589181353],[-0.5083338485886921,-2.5578720431490627]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[-0.599676931613162,0.5040527179940004,0.71338606911949],"aabb_xy":[[-0.6796769290167554,0.42406014679581755],[-0.5196769342095685,0.5840452891921831]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.5275480072037348,1.2383660603244073,0.71338606911949],"aabb_xy":[[0.49508630632180733,1.2082332282095045],[0.5600097080856622,1.2684988924393097]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.12578187453077705,1.0520357594096548,0.71338606911949],"aabb_xy":[[-0.19078187553127757,1.00124939425498],[-0.06078187353027653,1.10282212456433]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.05485512808460846,1.0189736419184965,0.71338606911949],"aabb_xy":[[0.05022001293237506,1.0151063068413477],[0.059490243236841836,1.0228409769956452]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.6049723099124431,-1.6345422705426071,0.71338606911949],"aabb_xy":[[-0.6946593862205585,-1.724542270797058],[-0.5152852336043275,-1.5445422702881568]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[0.5255644960439043,-1.0464701303078874,0.71338606911949],"aabb_xy":[[0.4756817991662081,-1.0964701295541621],[0.5754471929216005,-0.9964701310616126]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[0.30339289452250207,-1.2520876873887736,0.71338606911949],"aabb_xy":[[0.2688018116684568,-1.3170876876738047],[0.33798397737654723,-1.1870876871037426]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.6207015874474258,-1.4502217396977966,0.71338606911949],"aabb_xy":[[0.5607015869395728,-1.5070684733837179],[0.6807015879552787,-1.3933750060118753]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.42824989935274443,0.8883016959635079,0.71338606911949],"aabb_xy":[[-0.4457498327867278,0.8708016960432733],[-0.41074996591876106,0.9058016958837424]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[0.5612449069538781,-0.708084329556494,0.71338606911949],"aabb_xy":[[0.551897899371583,-0.7223879517741382],[0.5705919145361734,-0.6937807073388501]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[0.5970458895928745,0.9185865853328323,0.71338606911949],"aabb_xy":[[0.5858008340222567,0.907344787608737],[0.6082909451634924,0.9298283830569276]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[0.33889166678247795,-0.5212579627207874,0.71338606911949],"aabb_xy":[[0.3316093504058142,-0.6112579663302962],[0.3461739831591415,-0.43125795911127823]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.028148023237160036,-1.156160460640689,0.71338606911949],"aabb_xy":[[-0.0631480231331789,-1.1645346961526288],[0.006851976658858834,-1.1477862251287487]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.08089792812855134,-1.9434144409446141,0.71338606911949],"aabb_xy":[[0.07385761819501435,-2.0234144403442853],[0.08793823806208834,-1.863414441544943]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[-0.2688602669204051,1.5621940912771826,0.71338606911949],"aabb_xy":[[-0.278616256429579,1.552431557217948],[-0.2591042774112312,1.5719566253364168]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[-0.43832005783544437,-1.4369798615054978,0.71338606911949],"aabb_xy":[[-0.4463634177613995,-1.5219798626008643],[-0.43027669790948914,-1.3519798604101314]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[0.011887959286572158,-2.493477066829534,0.71338606911949],"aabb_xy":[[0.0018062522079986786,-2.573477064721648],[0.02196966636514563,-2.4134770689374188]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[0.23205212663742603,1.6746798464872978,0.71338606911949],"aabb_xy":[[0.17705212701568018,1.6196961536998253],[0.28705212625917187,1.7296635392747708]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_25","position":[0.08582139490863816,-1.670204648198879,0.71338606911949],"aabb_xy":[[0.025821395062071373,-1.7270232703919177],[0.14582139475520495,-1.6133860260058404]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_26","position":[-0.14891609512913373,-1.2702222173750128,0.71338606911949],"aabb_xy":[[-0.18391609510562956,-1.2796868334226295],[-0.1139160951526379,-1.2607576013273962]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_27","position":[0.2414342299478347,-1.1277169291574103,0.71338606911949],"aabb_xy":[[0.16143423129094872,-1.142221788081673],[0.3214342286047207,-1.1132120702331476]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_28","position":[-0.18528548063470063,1.6648558876654902,0.71338606911949],"aabb_xy":[[-0.22091463653466034,1.6292232209086372],[-0.14965632473474086,1.7004885544223431]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_29","position":[-0.4916902600715205,0.20594559464511164,0.71338606911949],"aabb_xy":[[-0.5155264777121257,0.11594559383662517],[-0.46785404243091555,0.2959455954535981]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_30","position":[-0.23038101774248954,1.480592310002875,0.71338606911949],"aabb_xy":[[-0.24825012549694503,1.466759402025664],[-0.21251190998803404,1.494425217980086]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_31","position":[0.5818356404620577,0.587318262331975,0.71338606911949],"aabb_xy":[[0.5483564732010168,0.5538391489608682],[0.6153148077230987,0.6207973757030821]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6609339399484532,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1995.png","name":"1995"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1995.png","name":"1995"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/798.png","name":"798"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1916.png","name":"1916"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6806.png","name":"6806"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":835.504464363865,"rotation_z_degrees":239.16146528579918,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0012892364969419,-0.0026470673447738756,-0.01580901665790275]},{"name":"camera_2","offset_m":[-0.006291541189367483,-0.002259534728015291,0.005300152133748001]},{"name":"camera_3","offset_m":[-0.004233025202862398,-0.003919432747589869,0.009037288807375359]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001079858005640766,-0.0012862862021783457,0.0008681466739606149],"end_effector_yaw_offset_degrees":-0.9688685464206994},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[5.388993976586289e-05,0.0009135593178882066,0.00139420318629358],"end_effector_yaw_offset_degrees":0.5021689012502994},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018079727606820552,0.0005912878996586178,-0.0008471701395603266],"end_effector_yaw_offset_degrees":0.36850951096641116}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014655255648775524,0.0008637956241897195],"position_m":[0.19543447443512243,0.3085637956241897,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014175760734243294,-0.0032669196597241235],"position_m":[0.24521757607342431,-0.33746691965972414,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002443416091004731,0.0019767227790782986],"position_m":[0.2934434160910047,-0.0750232772209217,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037530054304741422,-0.0008003265671874303],"position_m":[0.3268469945695259,0.08009967343281257,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d84704ffd301ba1de096b811c9ff774d2daa170831e2392bd5a670eb6dfc1ff","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1995/tex_ceiling_textures_6806/tex_floor_textures_226/tex_table_textures_798/tex_wall_textures_1916","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5480278224827644444,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5480278224827644444,"visual_seed":5480278224827644444,"scene_id":"lab_003","finished_at":"2026-09-04T07:46:19"}
+{"episode_id":"ep_000019","started_at":"2026-09-04T07:46:22","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[-0.3841466694191568,-2.132157119527803,0.71338606911949],"aabb_xy":[[-0.41758684461517637,-2.165600745358733],[-0.35070649422313716,-2.0987134936968723]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.5753151878740133,-1.6751264636454604,0.71338606911949],"aabb_xy":[[0.5415396286833203,-1.6891649588586253],[0.6090907470647062,-1.6610879684322954]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[-0.5397765618443138,0.4496333086603803,0.71338606911949],"aabb_xy":[[-0.6047765604013865,0.41988077524649775],[-0.4747765632872408,0.479385842074263]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.32034702770738743,-2.3252852663506687,0.71338606911949],"aabb_xy":[[0.2627165588201165,-2.385285265277379],[0.3779774965946582,-2.2652852674239576]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[-0.1900778504448971,1.6595979481309917,0.71338606911949],"aabb_xy":[[-0.225077848715017,1.6525238204360033],[-0.15507785217477718,1.6666720758259796]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.5891107781675866,1.098710330084848,0.71338606911949],"aabb_xy":[[-0.6691107761483717,1.091108789122996],[-0.5091107801868016,1.1063118710467]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[0.04463098690536771,-1.6177529416326777,0.71338606911949],"aabb_xy":[[0.007299710380125085,-1.6524059964275302],[0.08196226343061033,-1.5830998868378257]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[-0.06668192108173765,-2.265480557314111,0.71338606911949],"aabb_xy":[[-0.07472528100769282,-2.3504805584094774],[-0.058638561155782476,-2.1804805562187446]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[-0.2683108671546355,-2.508908033167097,0.71338606911949],"aabb_xy":[[-0.2852215995909772,-2.5223802387597116],[-0.25140013471829364,-2.4954358275744823]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.3426991644050528,-1.2359036522125066,0.71338606911949],"aabb_xy":[[-0.40669916170739917,-1.2802700791803634],[-0.27869916710270637,-1.19153722524465]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.012137954490636593,0.7920126757678427,0.71338606911949],"aabb_xy":[[-0.01169826314996847,0.7020126749593563],[0.03597417213124166,0.8820126765763293]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.22119409172384985,0.8421134851726286,0.71338606911949],"aabb_xy":[[-0.2861940896054977,0.7909898214660879],[-0.1561940938422021,0.8932371488791696]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.16845143877582025,-0.42482366732241905,0.71338606911949],"aabb_xy":[[-0.1725673888878929,-0.4289392223552645],[-0.16433548866374756,-0.4207081122895735]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.22374037771306166,-1.9592576902287147,0.71338606911949],"aabb_xy":[[0.1587403795571426,-1.9855539347786269],[0.2887403758689807,-1.9329614456788025]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.11812236572966028,1.0066922278395527,0.71338606911949],"aabb_xy":[[-0.1405871357010654,0.9841922269606922],[-0.09565759575825517,1.0291922287184132]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[0.30941512425065554,0.5996117397300251,0.71338606911949],"aabb_xy":[[0.25943631574033965,0.5496117397243062],[0.3593939327609714,0.6496117397357438]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[-0.23128975792188,1.721848838757769,0.71338606911949],"aabb_xy":[[-0.23932609262316482,1.7138107194533523],[-0.22325342322059513,1.7298869580621858]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[-0.5831135096267979,-2.1450596287103396,0.71338606911949],"aabb_xy":[[-0.6331127847952341,-2.1950596299862872],[-0.5331142344583618,-2.095059627434393]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.41542789714373596,-2.4122991714736326,0.71338606911949],"aabb_xy":[[-0.5054278965621068,-2.445674668317822],[-0.32542789772536507,-2.3789236746294424]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.46873209147630757,0.23628262714067594,0.71338606911949],"aabb_xy":[[0.3887320943167322,0.22473502618285887],[0.5487320886358829,0.24783022809849295]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[0.6212379987460095,-0.1963128428845904,0.71338606911949],"aabb_xy":[[0.5572380016339038,-0.245345212679001],[0.6852379958581152,-0.14728047309017978]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.2833787821602992,-1.3851381447041728,0.71338606911949],"aabb_xy":[[-0.3473787842100312,-1.4252326277934808],[-0.21937878011056722,-1.3450436616148649]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[0.431327980189099,0.9014793818123188,0.71338606911949],"aabb_xy":[[0.38151120072426425,0.8514793833280153],[0.4811447596539338,0.951479380296622]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[-0.09563702727749901,-1.46620276569033,0.71338606911949],"aabb_xy":[[-0.15563702778535193,-1.5230494993762511],[-0.03563702676964609,-1.4093560320044085]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6530350083809513,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3884.png","name":"3884"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3884.png","name":"3884"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4871.png","name":"4871"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2168.png","name":"2168"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/959.png","name":"959"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3607.png","name":"3607"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":504.90511459877257,"rotation_z_degrees":312.33403460646355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007869134269978251,-0.012662276045110606,0.01017645120220647]},{"name":"camera_2","offset_m":[0.017041961256489057,-0.004336895049088258,0.005554239158933921]},{"name":"camera_3","offset_m":[0.017047012188899206,-0.014731286222603024,0.018522169713527836]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001994055215760792,0.0018574051891165396,-0.000702319542504323],"end_effector_yaw_offset_degrees":-0.7544848369892683},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009383111183547466,-0.0018423256544556504,0.0008906141741571805],"end_effector_yaw_offset_degrees":0.6614724155766913},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.353398345340091e-05,-0.0019053961179992683,-0.00040077467262868236],"end_effector_yaw_offset_degrees":0.06067197421960735}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003178021126774885,0.00025891398132014444],"position_m":[0.19372197887322512,0.30795891398132014,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004744120916479191,0.0018293519764763398],"position_m":[0.2390558790835208,-0.3323706480235237,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004972657898915743,-0.0023568668742504897],"position_m":[0.2860273421010842,-0.07935686687425049,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003552952326173903,-0.003900131988674538],"position_m":[0.3341529523261739,0.07699986801132547,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d87453f1f08aee4308aee85314cd78d2d587020eec8505e72d5bd156cdbc44f3","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3884/tex_ceiling_textures_3607/tex_floor_textures_959/tex_table_textures_4871/tex_wall_textures_2168","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4768778446778792058,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4768778446778792058,"visual_seed":4768778446778792058,"scene_id":"lab_003","finished_at":"2026-09-04T07:49:31"}
+{"episode_id":"ep_000020","started_at":"2026-09-04T07:49:35","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.6739803570347096,0.5476009380272413,0.71338606911949],"aabb_xy":[[-0.6827615841819461,0.5388211907387114],[-0.6651991298874735,0.5563806853157717]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[0.6479757466084193,-2.2185132096694513,0.71338606911949],"aabb_xy":[[0.6254757467945169,-2.222987826039932],[0.6704757464223217,-2.214038593298971]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[-0.46420277553598455,0.3237846761083589,0.71338606911949],"aabb_xy":[[-0.5442027769661117,0.2442675210957494],[-0.3842027741058573,0.40330183112096835]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[0.36713374026697143,-2.185129343920085,0.71338606911949],"aabb_xy":[[0.30713374001557026,-2.23941066895655],[0.4271337405183726,-2.1308480188836203]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[-0.3342990821440572,-0.06645574249987307,0.71338606911949],"aabb_xy":[[-0.34233541684534197,-0.07449386180428984],[-0.3262627474427723,-0.05841762319545628]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.5231655577012593,-0.08996420236794922,0.71338606911949],"aabb_xy":[[-0.5280648500078227,-0.11764112167051799],[-0.5182662653946957,-0.06228728306538045]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[0.117905812430522,-1.0698871930232945,0.71338606911949],"aabb_xy":[[0.09599713029117095,-1.091787859843385],[0.13981449456987305,-1.0479865262032035]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[0.3354261151337281,-1.8952623677535727,0.71338606911949],"aabb_xy":[[0.29025479728555914,-1.9592623648981113],[0.38059743298189713,-1.8312623706090345]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[-0.10040881874149055,-0.31683711465269715,0.71338606911949],"aabb_xy":[[-0.10975582632378579,-0.3311407368703412],[-0.09106181115919533,-0.3025334924350531]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.2566131745929725,-2.512878237678473,0.71338606911949],"aabb_xy":[[-0.2638744221633799,-2.5256652479419825],[-0.2493519270225651,-2.5000912274149636]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[0.6634717828948502,1.246522880950229,0.71338606911949],"aabb_xy":[[0.6290093048817623,1.2398592037673062],[0.6979342609079379,1.2531865581331516]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[0.5251224877314431,-0.04606807171228944,0.71338606911949],"aabb_xy":[[0.5170791278054879,-0.13106807280765587],[0.5331658476573983,0.038931929383077]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[-0.18602014934743605,-1.6172581605962972,0.71338606911949],"aabb_xy":[[-0.21056636497018674,-1.6475070571453343],[-0.1614739337246853,-1.5870092640472602]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[-0.532656476274507,1.660891901104042,0.71338606911949],"aabb_xy":[[-0.5691522969017856,1.6244079586772842],[-0.4961606556472281,1.6973758435307993]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.5056758645405861,-1.0556820848427726,0.71338606911949],"aabb_xy":[[-0.5696758631271586,-1.1026890482422813],[-0.44167586595401365,-1.0086751214432639]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.5588002873053302,-1.4357559116889924,0.71338606911949],"aabb_xy":[[0.46880029056971984,-1.4889393750062867],[0.6488002840409403,-1.3825724483716977]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.399136521614456,0.546095864709363,0.71338606911949],"aabb_xy":[[0.3641365216379602,0.5366312486617465],[0.43413652159095184,0.5555604807569797]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[0.5836219649397671,1.3833490086883518,0.71338606911949],"aabb_xy":[[0.5036219679255192,1.3632144570149403],[0.6636219619540151,1.4034835603617628]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.05629508657840632,-1.8890287849664595,0.71338606911949],"aabb_xy":[[-0.08013130421901138,-1.9790287857749465],[-0.032458868937801255,-1.7990287841579735]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.08023714537737614,-1.0992823420320361,0.71338606911949],"aabb_xy":[[-0.11773714380077649,-1.1124465559998666],[-0.04273714695397579,-1.0861181280642052]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[0.3778523295875953,1.5494024059256275,0.71338606911949],"aabb_xy":[[0.32785921747840346,1.4994024052514319],[0.4278454416967873,1.5994024065998234]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.5814743991664552,1.1365320209082057,0.71338606911949],"aabb_xy":[[-0.6364666498019662,1.081532019164893],[-0.5264821485309443,1.1915320226515185]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[-0.43243528522403263,1.3213044636279703,0.71338606911949],"aabb_xy":[[-0.436395768993767,1.3136365990424497],[-0.4284748014542983,1.3289723282134909]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[0.41491969720017474,1.249909100825953,0.71338606911949],"aabb_xy":[[0.3649246862407227,1.1999091017903614],[0.4649147081596268,1.2999090998615448]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.500105396169455,-2.431963546760794,0.71338606911949],"aabb_xy":[[-0.5246190202664608,-2.4562281400628305],[-0.47559177207244907,-2.4076989534587576]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[0.253378996211466,0.7082458208830316,0.71338606911949],"aabb_xy":[[0.1733789992484268,0.6311701792392582],[0.33337899317450514,0.7853214625268051]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_26","position":[-0.18854101889535457,1.0688593472093135,0.71338606911949],"aabb_xy":[[-0.23854101754127577,1.0189398035498511],[-0.13854102024943338,1.118778890868776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6564125387623183,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3238.png","name":"3238"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3238.png","name":"3238"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1501.png","name":"1501"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8915.png","name":"8915"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/296.png","name":"296"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7571.png","name":"7571"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":751.1909056017746,"rotation_z_degrees":68.3556080654767,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017999033327806536,-0.0020364893739653264,0.019983194495027414]},{"name":"camera_2","offset_m":[-0.014320765695102166,-0.002879251451651136,-0.014752104020541196]},{"name":"camera_3","offset_m":[-0.007746634995582449,-0.013942129903975435,-0.013959690068352404]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012811508126858997,0.001201726168335521,0.0016160650451755472],"end_effector_yaw_offset_degrees":-0.7499563636791955},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015973136969703585,-0.00034108335224435657,-0.0006570320184017815],"end_effector_yaw_offset_degrees":0.7726538820853439},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003136932743707916,-0.001333481983040354,0.0019148814737243525],"end_effector_yaw_offset_degrees":-0.710130328339126}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002613916742825819,0.0015585717816582875],"position_m":[0.19428608325717417,0.3092585717816583,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027724699831350587,-0.0014670931397951013],"position_m":[0.24102753001686494,-0.3356670931397951,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0023387939878209887,-0.002481375821154822],"position_m":[0.288661206012179,-0.07948137582115482,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003225409258388757,-0.0006132095652675931],"position_m":[0.3302774590741611,0.08028679043473241,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1703203f2bdb7aad912e5c94042f550c38fb2ab6428242da9cca3cfc4c2ed975","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3238/tex_ceiling_textures_7571/tex_floor_textures_296/tex_table_textures_1501/tex_wall_textures_8915","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5513892224676274346,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5513892224676274346,"visual_seed":5513892224676274346,"scene_id":"lab_003","finished_at":"2026-09-04T07:52:45"}
+{"episode_id":"ep_000021","started_at":"2026-09-04T07:52:48","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.5749562956342988,-2.2612869257804036,0.71338606911949],"aabb_xy":[[-0.6177230025137191,-2.325286929202206],[-0.5321895887548788,-2.197286922358601]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.44173752920378484,-0.33059198659711253,0.71338606911949],"aabb_xy":[[0.43532371556059984,-0.3370018068447808],[0.4481513428469697,-0.32418216634944413]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.16283220875280469,-2.502139780738762,0.71338606911949],"aabb_xy":[[0.10283220890623787,-2.5589584029318004],[0.22283220859937145,-2.445321158545723]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.21840331506763466,1.1007152756213903,0.71338606911949],"aabb_xy":[[0.2071582594970168,1.089473477897295],[0.22964837063825247,1.1119570733454855]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[-0.14302140243842465,-1.8216078150978856,0.71338606911949],"aabb_xy":[[-0.18052140238219105,-1.8299009051327226],[-0.10552140249465825,-1.8133147250630495]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.13990335690194344,-1.0155419290706402,0.71338606911949],"aabb_xy":[[0.11740335708804106,-1.020016545441121],[0.16240335671584583,-1.0110673127001595]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.4929443886767111,1.1060415509250774,0.71338606911949],"aabb_xy":[[-0.5529443889281122,1.0517602258886127],[-0.4329443884253098,1.160322875961542]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.33245649521450255,-1.0360783137418499,0.71338606911949],"aabb_xy":[[-0.33659235154720274,-1.0735783131862071],[-0.32832063888180235,-0.9985783142974931]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[-0.22850892871595246,1.564553121566219,0.71338606911949],"aabb_xy":[[-0.2650047493432312,1.5280691791394616],[-0.19201310808867372,1.6010370639929767]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.10117493182566395,-1.2686153510315263,0.71338606911949],"aabb_xy":[[-0.1911749304201339,-1.2848659373449476],[-0.011174933231194006,-1.2523647647181055]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[0.5948318361705991,0.1240977504277958,0.71338606911949],"aabb_xy":[[0.5855382179334485,0.08659775193966189],[0.6041254544077497,0.1615977489159297]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.42694752340928394,-2.1073965427765695,0.71338606911949],"aabb_xy":[[-0.47694752507077864,-2.157394985032272],[-0.3769475217477891,-2.0573981005208664]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[0.31886839482230034,-1.1527325801085293,0.71338606911949],"aabb_xy":[[0.2853892275612594,-1.1862116934796363],[0.3523475620833413,-1.1192534667374223]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.1234340214777051,-1.5399744687411643,0.71338606911949],"aabb_xy":[[0.043434019314942604,-1.6199296523673081],[0.2034340236404676,-1.4600192851150209]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.42469054926926586,-1.2095550755783135,0.71338606911949],"aabb_xy":[[-0.4393339548232988,-1.2242137952350978],[-0.4100471437152328,-1.1948963559215293]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.5585441643774975,-0.06608464699358674,0.71338606911949],"aabb_xy":[[-0.5704768987393256,-0.07846679980144611],[-0.5466114300156695,-0.05370249418572737]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[-0.2878935726596668,-1.7641028542775254,0.71338606911949],"aabb_xy":[[-0.35189357433766416,-1.8126202457568397],[-0.22389357098166945,-1.7155854627982112]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[0.22532917123544483,1.518202465918057,0.71338606911949],"aabb_xy":[[0.18941566681045507,1.4822889577013025],[0.26124267566043446,1.5541159741348116]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.18836374011559176,1.678747388001701,0.71338606911949],"aabb_xy":[[0.15404746294097385,1.628747388028523],[0.22268001729020973,1.7287473879748785]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[-0.5916461931769965,1.6047826794698659,0.71338606911949],"aabb_xy":[[-0.6394523607907651,1.539782676762807],[-0.5438400255632277,1.6697826821769248]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.25313090068132893,-0.49143149663110064,0.71338606911949],"aabb_xy":[[-0.2781308999532912,-0.5077768602272629],[-0.22813090140936668,-0.47508613303493824]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.3457250655912927,-0.3795000128476391,0.71338606911949],"aabb_xy":[[-0.3957250668751326,-0.4294788672382612],[-0.29572506430745266,-0.32952115845701696]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[-0.08504893698876348,-1.1779046025823272,0.71338606911949],"aabb_xy":[[-0.12254893556438429,-1.190640898245885],[-0.04754893841314268,-1.165168306918769]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[0.028958095611347545,-1.9920767578747376,0.71338606911949],"aabb_xy":[[-0.035041904649123254,-2.037085557227665],[0.09295809587181834,-1.9470679585218096]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[0.3846288209877162,-1.5047170772317637,0.71338606911949],"aabb_xy":[[0.3296333431670568,-1.5597170786656702],[0.43962429880837556,-1.4497170757978564]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[0.6159292795679636,0.644776495814614,0.71338606911949],"aabb_xy":[[0.5784292792757888,0.6407350204140104],[0.6534292798601384,0.6488179712152177]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_26","position":[-0.04762261631808973,1.6073587100914213,0.71338606911949],"aabb_xy":[[-0.0927939341662587,1.5433587129468833],[-0.002451298469920753,1.6713587072359601]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[0.401304491783252,-0.6709119621373714,0.71338606911949],"aabb_xy":[[0.38867770449605565,-0.6804580358389443],[0.41393127907044835,-0.6613658884357985]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_28","position":[0.246815367422609,-1.7151332713442224,0.71338606911949],"aabb_xy":[[0.2418593472377278,-1.7376332715463445],[0.2517713876074902,-1.6926332711421013]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_29","position":[0.5750403825373815,-1.3725080104138843,0.71338606911949],"aabb_xy":[[0.5669267278640044,-1.3806138268679133],[0.5831540372107586,-1.3644021939598552]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6541191146719756,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4767.png","name":"4767"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4767.png","name":"4767"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5357.png","name":"5357"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4366.png","name":"4366"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6023.png","name":"6023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2296.png","name":"2296"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":794.3044156735216,"rotation_z_degrees":22.318438980680373,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016771959582860065,0.018007613910685383,0.010926920047947118]},{"name":"camera_2","offset_m":[-0.0017074928378533714,0.0024553542228826775,0.0014212877058245796]},{"name":"camera_3","offset_m":[0.01760638328736693,-0.0003043570058024192,-0.015702998787972357]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001130028216114529,0.0005159757313168531,0.0016189666180650487],"end_effector_yaw_offset_degrees":-0.337737068835835},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.87918540822779e-05,0.0016449477619960916,-0.0004618745076709909],"end_effector_yaw_offset_degrees":-0.6277368084696833},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009967183371167906,-0.0007969687633194468,8.245321376763003e-05],"end_effector_yaw_offset_degrees":0.06691693197217874}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024119384766561535,0.003700440895920739],"position_m":[0.19931193847665615,0.3114004408959207,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004658881325879098,-0.00015231960211113758],"position_m":[0.23914111867412088,-0.33435231960211115,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018279278818902527,-0.0017134057158108618],"position_m":[0.2928279278818902,-0.07871340571581086,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034390467014241847,3.599773282985091e-05],"position_m":[0.3340390467014242,0.08093599773282985,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d93890397e6748c8f4e4e6706159de2c5aefdba4483aa57a12b90176448878c","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4767/tex_ceiling_textures_2296/tex_floor_textures_6023/tex_table_textures_5357/tex_wall_textures_4366","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7149401258041708486,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7149401258041708486,"visual_seed":7149401258041708486,"scene_id":"lab_003","finished_at":"2026-09-04T07:55:58"}
+{"episode_id":"ep_000022","started_at":"2026-09-04T07:56:01","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[0.49599654629735346,-1.0391160392454666,0.71338606911949],"aabb_xy":[[0.4609965449458716,-1.0594757752022874],[0.530996547648835,-1.0187563032886457]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[0.012688285287048129,-0.9843588028340742,0.71338606911949],"aabb_xy":[[0.00723033965002806,-1.0643588061417333],[0.018146230924068196,-0.904358799526415]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.015840560011041283,-2.1046427883788557,0.71338606911949],"aabb_xy":[[-0.05415944212038826,-2.127404754004551],[0.08584056214247082,-2.0818808227531593]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.6225570028471006,-1.7633280284333137,0.71338606911949],"aabb_xy":[[0.5775644161286502,-1.8083280277077622],[0.667549589565551,-1.7183280291588647]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[-0.02445812290068483,-2.432481702025891,0.71338606911949],"aabb_xy":[[-0.08845812495041683,-2.472576185115199],[0.039541879149047165,-2.392387218936583]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.32581757883178475,1.6930480101587544,0.71338606911949],"aabb_xy":[[0.2758175801858636,1.643128466499292],[0.375817577477706,1.7429675538182168]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.27819631353934865,1.564690631756609,0.71338606911949],"aabb_xy":[[-0.28904791978822425,1.553831341028958],[-0.26734470729047305,1.57554992248426]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[0.606924816503605,1.6197553749953868,0.71338606911949],"aabb_xy":[[0.6034841402635478,1.6158939420210225],[0.6103654927436621,1.6236168079697515]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.4450984111913683,-1.169739665677688,0.71338606911949],"aabb_xy":[[0.42058478709436237,-1.1940042589797244],[0.4696120352883741,-1.1454750723756515]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.22250892993906551,1.4197529034185314,0.71338606911949],"aabb_xy":[[-0.2865089291088354,1.3729862162995692],[-0.15850893076929556,1.4665195905374941]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.46041504134048394,-1.5558315826673466,0.71338606911949],"aabb_xy":[[0.4379186199066198,-1.578331582474094],[0.482911462774348,-1.5333315828605991]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[0.1508904112506929,-1.7749385023202213,0.71338606911949],"aabb_xy":[[0.060890414749821174,-1.8208501447386796],[0.24089040775156467,-1.729026859901763]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[0.3743165347745665,-0.6620930673436971,0.71338606911949],"aabb_xy":[[0.3243215238151145,-0.7120930663792888],[0.4243115457340186,-0.6120930683081054]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[-0.6435689750453417,1.6435526142340264,0.71338606911949],"aabb_xy":[[-0.6506104259960892,1.636525862496232],[-0.636527524094594,1.6505793659718209]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.6257351709675824,-0.1608731211065435,0.71338606911949],"aabb_xy":[[-0.6857351718283949,-0.21229955111302984],[-0.5657351701067693,-0.10944669110005707]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.583645509934689,1.1993131770081797,0.71338606911949],"aabb_xy":[[-0.6186455099111848,1.1898485609605631],[-0.5486455099581932,1.2087777930557964]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.08898482736228319,-0.7242642008022864,0.71338606911949],"aabb_xy":[[-0.11226666956041453,-0.8092642020995144],[-0.06570298516415185,-0.6392641995050583]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.07146823494593124,-1.0890556164416576,0.71338606911949],"aabb_xy":[[-0.10896823646156295,-1.1002823894578027],[-0.03396823343029953,-1.0778288434255126]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.49258746692583033,-0.042149551549143016,0.71338606911949],"aabb_xy":[[0.48445977873251705,-0.05106315995985066],[0.5007151551191436,-0.03323594313843536]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.43702871400664484,0.26902121822870395,0.71338606911949],"aabb_xy":[[-0.4870287153675321,0.21904331365328836],[-0.38702871264575767,0.3189991228041196]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[0.28198281402327585,-1.6422755765824109,0.71338606911949],"aabb_xy":[[0.25201525711345013,-1.6722755768802968],[0.31195037093310146,-1.6122755762845253]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[-0.42011692785929955,1.031646574467929,0.71338606911949],"aabb_xy":[[-0.4551169270521177,1.0206795284702663],[-0.3851169286664812,1.0426136204655914]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.07077891785757096,-1.3009876239645612,0.71338606911949],"aabb_xy":[[-0.1357789164146438,-1.3307401573784436],[-0.00577891930049812,-1.2712350905506784]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[-0.2383478556256579,0.1310467014353911,0.71338606911949],"aabb_xy":[[-0.2605203826023087,0.10887103427926789],[-0.21617532864900701,0.15322236859151425]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[-0.10753789367228928,1.6785487780877104,0.71338606911949],"aabb_xy":[[-0.17153789078439496,1.6295164082933],[-0.04353789656018359,1.7275811478821212]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[-0.25589211475293305,-1.3307074567720667,0.71338606911949],"aabb_xy":[[-0.27195404221145064,-1.4157074585846583],[-0.23983018729441538,-1.2457074549594747]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[-0.39029845758332343,-1.7066357742695848,0.71338606911949],"aabb_xy":[[-0.4127984573972258,-1.7111103906400655],[-0.36779845776942105,-1.702161157899104]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_27","position":[-0.6057735773796115,0.4994966431296972,0.71338606911949],"aabb_xy":[[-0.6657735772261782,0.4426780209366584],[-0.5457735775330447,0.5563152653227358]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_28","position":[0.5994805006505808,0.5591851798812404,0.71338606911949],"aabb_xy":[[0.5769805006404325,0.5450889602416371],[0.6219805006607291,0.5732813995208437]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_29","position":[0.5024286728855911,-0.8839790244877122,0.71338606911949],"aabb_xy":[[0.494804404795413,-0.8916122480242559],[0.5100529409757695,-0.8763458009511684]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_30","position":[0.1794526740688317,1.7936496093909367,0.71338606911949],"aabb_xy":[[0.15695267454512427,1.7711536619403154],[0.20195267359253907,1.816145556841557]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_31","position":[-0.599264771818931,0.765135065231275,0.71338606911949],"aabb_xy":[[-0.6632647711130991,0.7011489248624208],[-0.5352647725247627,0.8291212056001291]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_32","position":[0.5377619238885878,0.1922646658724405,0.71338606911949],"aabb_xy":[[0.47276192293146063,0.14031645393873493],[0.602761924845715,0.2442128778061461]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6574302760029256,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5396.png","name":"5396"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5396.png","name":"5396"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/712.png","name":"712"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7248.png","name":"7248"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4136.png","name":"4136"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8185.png","name":"8185"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":737.3775154912748,"rotation_z_degrees":66.75924908088327,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01516788119734316,-0.019233246556978664,0.004166255057241365]},{"name":"camera_2","offset_m":[0.019140674337613312,0.005596468539927842,0.010332670034127571]},{"name":"camera_3","offset_m":[0.007315256466355176,-0.0022287740320696414,-0.015050908493553016]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006152974009057711,-3.0174518973647042e-06,0.0009779246354339253],"end_effector_yaw_offset_degrees":-0.4713374826505645},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013991909150302914,-0.0018857527102344456,0.00031147942130239914],"end_effector_yaw_offset_degrees":-0.9392349051554907},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009843804250535665,-0.0019582084870888405,0.0013801689396314393],"end_effector_yaw_offset_degrees":0.5990258120527874}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0023581187885638524,0.003543959404478909],"position_m":[0.19925811878856384,0.3112439594044789,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003648571641683053,-0.00491226259634739],"position_m":[0.24015142835831693,-0.3391122625963474,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008173984601496142,-0.0007552860237742586],"position_m":[0.2918173984601496,-0.07775528602377425,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001397964972211209,-0.003132313852635421],"position_m":[0.33199796497221123,0.07776768614736458,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"adbf9bb481ec0c94b349bd9b1384defacb280f38f104c13e95cf87d142d59193","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0022.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5396/tex_ceiling_textures_8185/tex_floor_textures_4136/tex_table_textures_712/tex_wall_textures_7248","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":684894482125039100,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":684894482125039100,"visual_seed":684894482125039100,"scene_id":"lab_003","finished_at":"2026-09-04T07:59:05"}
+{"episode_id":"ep_000023","started_at":"2026-09-04T07:59:10","dimensions":{"distractor":{"count":34,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[-0.3927606837768633,-1.0232670572689249,0.71338606911949],"aabb_xy":[[-0.48276068611088235,-1.1007494118540375],[-0.30276068144284424,-0.9457847026838122]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[0.11122676040604329,-1.4972276791558359,0.71338606911949],"aabb_xy":[[0.09658335485201029,-1.51188639881262],[0.12587016596007627,-1.4825689594990517]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[0.6958552489810115,-0.6024124793048631,0.71338606911949],"aabb_xy":[[0.6759642091006712,-0.6150682905895599],[0.7157462888613517,-0.5897566680201662]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[0.36996376575066203,1.7479760806531428,0.71338606911949],"aabb_xy":[[0.3334679451233833,1.711492138226385],[0.4064595863779408,1.7844600230799001]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.2547242835599459,0.4786750988970754,0.71338606911949],"aabb_xy":[[-0.3347242815407309,0.4710735579352234],[-0.17472428557916084,0.4862766398589273]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[0.044984168101004585,0.7676453855700567,0.71338606911949],"aabb_xy":[[0.040906010193954845,0.7635644053217933],[0.049062326008054324,0.7717263658183199]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.4455677998472082,-0.6132225725577625,0.71338606911949],"aabb_xy":[[-0.47185662416764873,-0.6394940062124136],[-0.4192789755267674,-0.5869511389031111]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[0.35490301379616507,1.4476355969032073,0.71338606911949],"aabb_xy":[[0.3136542027662502,1.3926355973909899],[0.3961518248260797,1.5026355964154248]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[-0.09681311324968178,-2.1563091550535525,0.71338606911949],"aabb_xy":[[-0.10277965219041756,-2.1622702997129166],[-0.09084657430894598,-2.1503480103941883]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.07391071871543231,-1.8479340182094934,0.71338606911949],"aabb_xy":[[0.056277883121904744,-1.8655569642251164],[0.09154355430895988,-1.8303110721938705]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[0.44193592861795494,1.181939247267283,0.71338606911949],"aabb_xy":[[0.3779359283439767,1.1318731470699952],[0.5059359288919332,1.2320053474645711]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[0.3486188032785402,-2.3812494309620544,0.71338606911949],"aabb_xy":[[0.26861880469122074,-2.4605650329002153],[0.4286188018658596,-2.3019338290238935]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.4806040596891643,0.5518242411057015,0.71338606911949],"aabb_xy":[[0.4696982836016015,0.47182424470687234],[0.4915098357767269,0.6318242375045307]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[0.05247290173010655,-2.2956919087152334,0.71338606911949],"aabb_xy":[[-0.017527099872172935,-2.3091247019168915],[0.12247290333238603,-2.2822591155135763]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.10597663929506151,1.3856736429332996,0.71338606911949],"aabb_xy":[[-0.14282718723204912,1.3481736421102657],[-0.06912609135807392,1.4231736437563332]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[-0.6719746397409585,1.5090682654514196,0.71338606911949],"aabb_xy":[[-0.6920330513541989,1.4890031785422622],[-0.6519162281277183,1.529133352360577]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.40328664563488453,-1.795222014617876,0.71338606911949],"aabb_xy":[[-0.46728664797768604,-1.8401628658620082],[-0.3392866432920829,-1.7502811633737432]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[0.4643921933385988,-0.9967477413782055,0.71338606911949],"aabb_xy":[[0.44689219406051184,-1.0140858414445515],[0.4818921926166856,-0.9794096413118595]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.20538444901475572,1.031908714590318,0.71338606911949],"aabb_xy":[[0.1922332030434664,1.0069087148336315],[0.2185356949860451,1.0569087143470046]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[0.038985052353261995,-0.7176351984391125,0.71338606911949],"aabb_xy":[[0.0014850515612665413,-0.7240030393973025],[0.07648505314525744,-0.7112673574809223]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[0.4492018498624355,-2.010598505827505,0.71338606911949],"aabb_xy":[[0.3942063720417761,-2.065598507261412],[0.5041973276830949,-1.9555985043935982]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[0.15071199968376758,-1.784520997627685,0.71338606911949],"aabb_xy":[[0.13303636909516922,-1.8022012139070875],[0.1683876302723659,-1.766840781348282]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.5800292371826068,0.7520454212303291,0.71338606911949],"aabb_xy":[[-0.6300023027151224,0.7020454214177964],[-0.5300561716500914,0.8020454210428622]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[-0.6104093515405598,-0.2788638768973297,0.71338606911949],"aabb_xy":[[-0.6279560464566786,-0.316363878461581],[-0.5928626566244407,-0.24136387533307846]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[0.46710154036157747,-1.5364636530787852,0.71338606911949],"aabb_xy":[[0.459689084820189,-1.5423148635004134],[0.47451399590296595,-1.5306124426571575]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[-0.3530212601421656,-0.5433592597677128,0.71338606911949],"aabb_xy":[[-0.3583588358081702,-0.5683592606968526],[-0.34768368447616105,-0.518359258838573]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_26","position":[0.4004079761684076,-0.09231922590478492,0.71338606911949],"aabb_xy":[[0.3923716414671227,-0.1003573452092017],[0.4084443108696924,-0.08428110660036814]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[0.3390706264986252,-2.1874927786380285,0.71338606911949],"aabb_xy":[[0.32473620137246173,-2.199552994192567],[0.35340505162478864,-2.17543256308349]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_28","position":[0.33787593608925337,-0.6385093475693895,0.71338606911949],"aabb_xy":[[0.30672901724567025,-0.7085093462561965],[0.3690228549328365,-0.5685093488825822]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_29","position":[-0.4242235811516587,0.9368707259692615,0.71338606911949],"aabb_xy":[[-0.4494444180114983,0.9116469751163746],[-0.399002744291819,0.9620944768221481]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_30","position":[0.5063183871918315,0.9810060504861213,0.71338606911949],"aabb_xy":[[0.44631838668397855,0.9241593168002],[0.5663183876996843,1.0378527841720424]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_31","position":[-0.23265687283873926,0.6043246653013115,0.71338606911949],"aabb_xy":[[-0.26711935085182703,0.5976609881183886],[-0.19819439482565146,0.6109883424842343]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_32","position":[-0.200129548338415,-0.938182461701706,0.71338606911949],"aabb_xy":[[-0.208155818969041,-0.9469339566790589],[-0.192103277707789,-0.9294309667243537]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_33","position":[0.5725198381157985,-1.8342744872791266,0.71338606911949],"aabb_xy":[[0.5339741452905975,-1.872820258335315],[0.6110655309409996,-1.7957287162229376]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6578995531651171,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7515.png","name":"7515"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7515.png","name":"7515"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/457.png","name":"457"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6122.png","name":"6122"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2897.png","name":"2897"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8419.png","name":"8419"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":525.4083147766621,"rotation_z_degrees":238.73422641249212,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0038194643750031933,0.018603414111484747,-0.01671473462411949]},{"name":"camera_2","offset_m":[-0.014663871725826269,0.007500664977108794,-0.006339279295699569]},{"name":"camera_3","offset_m":[-0.01645639827294798,-0.006923568110819933,0.017192385828190198]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001201831337434141,0.0009524521297523932,0.0003973941763544195],"end_effector_yaw_offset_degrees":-0.8430864615769387},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001381111566250136,-0.0001679755215092929,0.0003695239921133308],"end_effector_yaw_offset_degrees":-0.0435978000665691},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000251451118047802,-0.0013258361035580596,0.0003967679395565065],"end_effector_yaw_offset_degrees":-0.5247798067841289}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004864254318936651,-0.001687699109752504],"position_m":[0.19203574568106335,0.30601230089024745,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010146814955532876,0.0020254873746051874],"position_m":[0.24481468149555327,-0.3321745126253948,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009560455004745923,-0.0010201280622010043],"position_m":[0.29195604550047455,-0.078020128062201,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021875295860539034,0.001707968201426495],"position_m":[0.3284124704139461,0.08260796820142649,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"40d104d3215d1e431b319f2b7c85418c23cd1dad9e59194a04a7862fc8169d4d","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7515/tex_ceiling_textures_8419/tex_floor_textures_2897/tex_table_textures_457/tex_wall_textures_6122","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7595399233237355970,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7595399233237355970,"visual_seed":7595399233237355970,"scene_id":"lab_003","finished_at":"2026-09-04T08:02:16"}
+{"episode_id":"ep_000024","started_at":"2026-09-04T08:02:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.14354488371166618,1.1711110395358437,0.71338606911949],"aabb_xy":[[-0.18962997496639764,1.1071110422832886],[-0.09745979245693469,1.2351110367883988]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.666489562328028,1.0179049377973741,0.71338606911949],"aabb_xy":[[0.6164945513685761,0.9679049387617824],[0.7164845732874802,1.0679049368329658]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[-0.2434124472532479,-0.38521288647442464,0.71338606911949],"aabb_xy":[[-0.27904160315320764,-0.42084555323127765],[-0.20778329135328816,-0.34958021971757175]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.38722685774530613,0.353580691154066,0.71338606911949],"aabb_xy":[[-0.39534051241868323,0.3454748747000369],[-0.37911320307192903,0.36168650760809506]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.46220503479776553,-0.1362560802976458,0.71338606911949],"aabb_xy":[[0.44510295683939743,-0.15336288582891555],[0.47930711275613375,-0.11914927476637605]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[-0.5878790023076057,-2.2260963287900175,0.71338606911949],"aabb_xy":[[-0.622879000618301,-2.2338113437135627],[-0.5528790039969101,-2.2183813138664714]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.3044569899477133,-1.1431740283083454,0.71338606911949],"aabb_xy":[[0.2710168147516936,-1.1766176541392752],[0.3378971651437328,-1.109730402477415]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.5365186349004021,-1.2111473768126795,0.71338606911949],"aabb_xy":[[0.5188430043118036,-1.228827593092082],[0.5541942654890003,-1.1934671605332765]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[0.5294009161134472,-0.023106407510057103,0.71338606911949],"aabb_xy":[[0.5007515837530309,-0.0517519667871329],[0.5580502484738633,0.005539151767018691]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.25418089190483384,-0.6743404402338333,0.71338606911949],"aabb_xy":[[0.1901851945097372,-0.7383404385345419],[0.31817658929993037,-0.6103404419331245]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.5168322910126601,1.296688193421828,0.71338606911949],"aabb_xy":[[0.504960208001159,1.2116881937281776],[0.5287043740241613,1.3816881931154783]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_11","position":[0.02873649318799898,-0.8657051390300177,0.71338606911949],"aabb_xy":[[-0.05126350728221697,-0.8740158466443662],[0.10873649365821494,-0.8573944314156694]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[0.5687058551224156,1.764469255634824,0.71338606911949],"aabb_xy":[[0.5047058580103099,1.7154368858404134],[0.6327058522345212,1.8135016254292347]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[0.622224863528239,0.7598425197168228,0.71338606911949],"aabb_xy":[[0.6181467056211892,0.7557615394685594],[0.6263030214352886,0.763923499965086]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.09559699841768465,0.9511671765888132,0.71338606911949],"aabb_xy":[[-0.16559700180924664,0.9158514028853824],[-0.02559699502612268,0.9864829502922441]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.35593527423711047,0.3413148698876678,0.71338606911949],"aabb_xy":[[0.35150464488227035,0.33586649815298525],[0.3603659035919507,0.34676324162235045]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.5369213955269354,-2.352551587840938,0.71338606911949],"aabb_xy":[[0.5320221032203719,-2.3802285071435065],[0.5418206878334989,-2.324874668538369]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.3015509939232326,-2.1201309936643575,0.71338606911949],"aabb_xy":[[-0.3665509965610261,-2.1716105923638045],[-0.2365509912854391,-2.0686513949649106]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.631916135509033,-1.579734664538905,0.71338606911949],"aabb_xy":[[0.608079917868428,-1.6697346653473917],[0.6557523531496381,-1.4897346637304185]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.25691409272532906,-2.4212042366942272,0.71338606911949],"aabb_xy":[[0.23441409320162163,-2.4437001841448476],[0.2794140922490364,-2.398708289243606]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.28769995227014533,0.7708409969446466,0.71338606911949],"aabb_xy":[[0.26519995175810473,0.7483491385792482],[0.31019995278218593,0.7933328553100449]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[0.43119104114060014,-0.6712854679580063,0.71338606911949],"aabb_xy":[[0.42585346547459557,-0.696285468887146],[0.4365286168066047,-0.6462854670288665]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6588715684107043,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3698.png","name":"3698"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3698.png","name":"3698"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3245.png","name":"3245"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/845.png","name":"845"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6179.png","name":"6179"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4567.png","name":"4567"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":570.0949741075771,"rotation_z_degrees":118.35348329212694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009517238668577298,-0.014694124212153627,0.01029193163177565]},{"name":"camera_2","offset_m":[0.015958653675140166,-0.006689554230926445,0.018122135749111295]},{"name":"camera_3","offset_m":[-0.011961017102476608,-0.018216526165977246,-0.018149693564423218]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008847710204129273,0.0008762770345498816,0.00016206078912078467],"end_effector_yaw_offset_degrees":0.09212485789793745},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011375078474989845,0.0005012303974074096,-0.001744909793438621],"end_effector_yaw_offset_degrees":0.8917256119438179},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008114737210231813,0.0019103107781484746,-0.0010098960462406935],"end_effector_yaw_offset_degrees":0.012359633727977215}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001521260590216342,-0.004137054412415595],"position_m":[0.19842126059021634,0.3035629455875844,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001903576427229289,-0.004806845157905769],"position_m":[0.2418964235727707,-0.33900684515790575,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013138883916921848,-0.004870296835985815],"position_m":[0.29231388839169214,-0.08187029683598582,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00437051859508901,0.004099459466642586],"position_m":[0.326229481404911,0.08499945946664259,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0165971ba63197d639f3aac49651169966f81216a52efff764cf508b44297e9d","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3698/tex_ceiling_textures_4567/tex_floor_textures_6179/tex_table_textures_3245/tex_wall_textures_845","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7340416154283884175,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7340416154283884175,"visual_seed":7340416154283884175,"scene_id":"lab_003","finished_at":"2026-09-04T08:05:29"}
+{"episode_id":"ep_000025","started_at":"2026-09-04T08:05:32","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[-0.473614540938089,-2.506023325313828,0.71338606911949],"aabb_xy":[[-0.5286100187587482,-2.5610233267477347],[-0.4186190631174295,-2.451023323879921]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.11693581294613908,0.8697597295308825,0.71338606911949],"aabb_xy":[[-0.17693581380695186,0.8183332995243959],[-0.05693581208532627,0.9211861595373687]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.3164660091141278,0.47850306106015994,0.71338606911949],"aabb_xy":[[0.2524660074361304,0.42998566958084566],[0.3804660107921251,0.5270204525394742]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.6269971452113123,0.684821932196582,0.71338606911949],"aabb_xy":[[0.6160913691237495,0.6048219357977529],[0.6379029212988749,0.7648219285954112]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[-0.3058763023358094,-1.2399324248377321,0.71338606911949],"aabb_xy":[[-0.34237212296308817,-1.2764163672644897],[-0.2693804817085307,-1.2034484824109746]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.5791428652976689,-1.5267959404172584,0.71338606911949],"aabb_xy":[[0.5479959464540858,-1.5967959391040656],[0.610289784141252,-1.4567959417304512]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.08738564750303857,1.4495300482688482,0.71338606911949],"aabb_xy":[[-0.09779720618352226,1.4441843149329499],[-0.07697408882255484,1.4548757816047466]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.27168009076415234,-0.6184976734326868,0.71338606911949],"aabb_xy":[[0.2294956766033216,-0.6824976737098981],[0.3138645049249831,-0.5544976731554757]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[0.5174849866404223,-0.12250079773709688,0.71338606911949],"aabb_xy":[[0.47998498629219455,-0.13429219331818043],[0.5549849869886501,-0.11070940215601333]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[0.32571185395695035,1.7635596844477068,0.71338606911949],"aabb_xy":[[0.3082811388779438,1.746287569783856],[0.3431425690359568,1.7808317991115576]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[0.46581177450121447,1.6803736689605162,0.71338606911949],"aabb_xy":[[0.40181177424074366,1.6353648696075882],[0.5298117747616853,1.7253824683134442]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[-0.03352578644001569,1.2860353114596874,0.71338606911949],"aabb_xy":[[-0.11351961001857391,1.2060353088668458],[0.04646803713854253,1.366035314052529]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[0.6660046760637606,-1.6365328818235634,0.71338606911949],"aabb_xy":[[0.6580111862684785,-1.6445310137640392],[0.6739981658590426,-1.628534749883088]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[-0.027116964363811058,-0.17282696958820765,0.71338606911949],"aabb_xy":[[-0.03516032428976623,-0.2578269706835741],[-0.01907360443785588,-0.08782696849284119]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[-0.4126282854791209,-1.5358789496897478,0.71338606911949],"aabb_xy":[[-0.4293054214722164,-1.5525788736636779],[-0.3959511494860254,-1.5191790257158173]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[0.46794166481805344,-1.2746896524901303,0.71338606911949],"aabb_xy":[[0.43335058196400816,-1.3396896527751614],[0.5025327476720985,-1.2096896522050993]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.06183897338118782,-1.8006988180724546,0.71338606911949],"aabb_xy":[[-0.1418389705407631,-1.8122464190302714],[0.01816102377838747,-1.7891512171146373]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.3213531958195224,-2.2995086690177367,0.71338606911949],"aabb_xy":[[0.271370245632043,-2.3495086686602966],[0.37133614600700166,-2.249508669375176]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.6349618265964956,-0.7740769369990332,0.71338606911949],"aabb_xy":[[-0.6705909824964553,-0.8097096037558862],[-0.5993326706965358,-0.7384442702421803]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[0.2514750934233525,1.3066272234177272,0.71338606911949],"aabb_xy":[[0.16647509473127786,1.2746413600228481],[0.33647509211542714,1.3386130868126058]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[-0.4684522980443189,0.8826977582248543,0.71338606911949],"aabb_xy":[[-0.5184522990634541,0.8462315424870267],[-0.41845229702518366,0.9191639739626826]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[0.16466721056407896,0.9608992134981551,0.71338606911949],"aabb_xy":[[0.09966721268243117,0.9097755497916143],[0.22966720844572677,1.012022877204696]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[0.5109000307194391,0.7079635601584466,0.71338606911949],"aabb_xy":[[0.506764174386739,0.6704635607140897],[0.5150358870521394,0.7454635596028037]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.25178123249490647,-1.848674279630548,0.71338606911949],"aabb_xy":[[0.17178123106477927,-1.9281914346431572],[0.33178123392503367,-1.7691571246179383]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.024046183498820484,-0.8749762907125562,0.71338606911949],"aabb_xy":[[0.008161690233495333,-0.8893292310113801],[0.039930676764145634,-0.860623350413732]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[0.4462312172061411,-1.044452956474986,0.71338606911949],"aabb_xy":[[0.43881876166475264,-1.050304166896614],[0.4536436727475296,-1.038601746053358]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_26","position":[-0.5429612212010186,-2.161545293937139,0.71338606911949],"aabb_xy":[[-0.5879612226672476,-2.20654515079862],[-0.4979612197347899,-2.1165454370756587]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_27","position":[-0.5876849516334983,1.6417320701729738,0.71338606911949],"aabb_xy":[[-0.6101497216049033,1.6192320692941133],[-0.5652201816620931,1.6642320710518343]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_28","position":[3.297535372015492e-05,0.767851155330213,0.71338606911949],"aabb_xy":[[-0.009126903590156443,0.7613199372866759],[0.009192854297596753,0.77438237337375]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_29","position":[-0.1515396019096764,-1.5616311895376316,0.71338606911949],"aabb_xy":[[-0.19008529473487745,-1.6001769605938203],[-0.11299390908447537,-1.5230854184814429]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6600703784515828,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2011.png","name":"2011"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2011.png","name":"2011"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/94.png","name":"94"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4828.png","name":"4828"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4132.png","name":"4132"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1474.png","name":"1474"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":610.2658864871463,"rotation_z_degrees":291.8463098773922,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014934562640780285,0.0026215919730525443,-0.004282715156254099]},{"name":"camera_2","offset_m":[-0.00943533062362556,-0.018728700459077156,0.016367945764345058]},{"name":"camera_3","offset_m":[-0.009848842890830007,0.011866413141908411,-0.0016042370378101557]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001460823091836682,0.001534831718706703,-0.0013567493282868042],"end_effector_yaw_offset_degrees":-0.15741343713311284},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.634603093759938e-05,0.0007633411018853676,0.0010561580365431428],"end_effector_yaw_offset_degrees":0.6293878358833835},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001633945408945221,0.0002364631748122902,-0.0005819487372576999],"end_effector_yaw_offset_degrees":0.3120719211922349}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038999931940689467,0.00489834351519756],"position_m":[0.19300000680593105,0.31259834351519755,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020638787508650835,-0.0004762837382313416],"position_m":[0.24586387875086507,-0.33467628373823133,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036703193695075175,-0.003107978505686573],"position_m":[0.2946703193695075,-0.08010797850568657,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004218545098138168,-0.0021752467073135506],"position_m":[0.3263814549018618,0.07872475329268645,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"31a2e75c1904c27daf0b9785cd96c49e449a778b96364865af33efcef85bc77a","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2011/tex_ceiling_textures_1474/tex_floor_textures_4132/tex_table_textures_94/tex_wall_textures_4828","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5756186352580786342,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5756186352580786342,"visual_seed":5756186352580786342,"scene_id":"lab_003","finished_at":"2026-09-04T08:08:36"}
+{"episode_id":"ep_000026","started_at":"2026-09-04T08:08:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.4994223717438143,0.8086014879385925,0.71338606911949],"aabb_xy":[[-0.5694223751353763,0.7732857142351616],[-0.4294223683522524,0.8439172616420233]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.3224344643413818,-2.0208095822209655,0.71338606911949],"aabb_xy":[[-0.4024344654145021,-2.03058762855835],[-0.24243446326826146,-2.011031535883581]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.17459365717009645,-1.9962694550743962,0.71338606911949],"aabb_xy":[[0.16368788108253374,-2.0762694514732254],[0.18549943325765916,-1.916269458675567]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.5608452805152584,0.5437640726934956,0.71338606911949],"aabb_xy":[[-0.6036119873946786,0.479764069271693],[-0.5180785736358382,0.6077640761152979]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[-0.4180287728855944,-1.734910762838405,0.71338606911949],"aabb_xy":[[-0.4651581518874301,-1.7989107638828066],[-0.37089939388375875,-1.6709107617940027]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.539959091779534,0.318021362377058,0.71338606911949],"aabb_xy":[[-0.5436623531086728,0.3143193440683401],[-0.536255830450395,0.32172338068577583]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.4241650261017288,-0.8424462925951901,0.71338606911949],"aabb_xy":[[-0.4791650243034736,-0.8829682592216276],[-0.3691650278999839,-0.8019243259687524]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[0.15974867377547364,-1.6910823010509708,0.71338606911949],"aabb_xy":[[0.09574867339794002,-1.740827567901783],[0.22374867415300725,-1.6413370342001585]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[-0.37171359433510126,-1.4495473017765739,0.71338606911949],"aabb_xy":[[-0.43571359638483326,-1.489641784865882],[-0.30771359228536926,-1.4094528186872661]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[0.6630520730959766,1.7019735730832335,0.71338606911949],"aabb_xy":[[0.6456213580169698,1.6847014584193825],[0.6804827881749829,1.719245687747084]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[-0.25490342860315457,-0.8599031857097874,0.71338606911949],"aabb_xy":[[-0.32490342501311625,-0.8803411213614689],[-0.1849034321931927,-0.8394652500581055]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.10965003107272164,-0.6848967371160546,0.71338606911949],"aabb_xy":[[-0.1596493062411578,-0.7348967383920019],[-0.05965075590428548,-0.6348967358401075]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[-0.18072629450990596,0.10989595037039424,0.71338606911949],"aabb_xy":[[-0.2507262966413355,0.08713398474469855],[-0.11072629237847639,0.13265791599608986]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[0.24060002316703144,-1.2659327168191445,0.71338606911949],"aabb_xy":[[0.1766000224635621,-1.3119510992920655],[0.3046000238705008,-1.2199143343462235]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[-0.5441656149639187,0.05980237022686907,0.71338606911949],"aabb_xy":[[-0.550260242852037,0.051232975675200354],[-0.5380709870758004,0.06837176477853779]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.38192761074304715,-2.1951321512763875,0.71338606911949],"aabb_xy":[[-0.3906415797929816,-2.2176321519355753],[-0.3732136416931126,-2.172632150617199]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[0.6263946522209425,1.2048747843304706,0.71338606911949],"aabb_xy":[[0.5763946512704096,1.173325637326949],[0.6763946531714752,1.2364239313339918]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.05518269017319799,-2.2539936431626386,0.71338606911949],"aabb_xy":[[-0.14518268667406972,-2.2999052855810964],[0.03481730632767376,-2.20808200074418]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.4211756300784564,0.8117722866853674,0.71338606911949],"aabb_xy":[[0.41188201184130574,0.7742722881972334],[0.4304692483156069,0.8492722851735012]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.5060101424604135,1.5873937695820595,0.71338606911949],"aabb_xy":[[0.4360101398238272,1.5672889045861937],[0.5760101450969999,1.6074986345779247]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.1953557224132395,0.8037926039054955,0.71338606911949],"aabb_xy":[[0.1778557232788723,0.7939129768679075],[0.21285572154760665,0.8136722309430832]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.4731329656995731,-2.3048853515302605,0.71338606911949],"aabb_xy":[[0.4091329685874674,-2.353917721324671],[0.5371329628116788,-2.25585298173585]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[-0.14054891297440675,-1.211363148072467,0.71338606911949],"aabb_xy":[[-0.16243866056334755,-1.301363145361716],[-0.11865916538546596,-1.1213631507832178]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[0.25464137637516404,-0.7646647778721203,0.71338606911949],"aabb_xy":[[0.17464137771827803,-0.7791696367963831],[0.33464137503205005,-0.7501599189478575]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[-0.07089134844078149,1.2882939521065793,0.71338606911949],"aabb_xy":[[-0.12089134801711622,1.2383133731544733],[-0.020891348864446782,1.3382745310586852]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[-0.19853692680649992,0.986957269765607,0.71338606911949],"aabb_xy":[[-0.20675147192218388,0.9782806794679655],[-0.19032238169081592,0.9956338600632482]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[-0.5297986779647436,-2.1869599234179846,0.71338606911949],"aabb_xy":[[-0.5394303141851732,-2.1965972361976935],[-0.5201670417443139,-2.1773226106382757]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_27","position":[-0.6512206886310488,-1.4884363086268024,0.71338606911949],"aabb_xy":[[-0.6757343127280545,-1.5127009019288389],[-0.6267070645340428,-1.464171715324766]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_28","position":[-0.1396292954617412,-0.5458532074908855,0.71338606911949],"aabb_xy":[[-0.15991359818513992,-0.5661358326335941],[-0.11934499273834241,-0.5255705823481764]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_29","position":[-0.5375864646919897,-1.3485740391722565,0.71338606911949],"aabb_xy":[[-0.5621326803147403,-1.3788229357212933],[-0.5130402490692388,-1.3183251426232192]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_30","position":[-0.295373307940271,-1.8018339444606997,0.71338606911949],"aabb_xy":[[-0.3253649706741413,-1.8318339437975],[-0.2653816452064006,-1.771833945123899]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_31","position":[0.2510641699078423,1.111773386241119,0.71338606911949],"aabb_xy":[[0.23970243525455615,1.100404919834831],[0.26242590456112846,1.123141852647407]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_32","position":[0.23386829149452337,0.9572236128815019,0.71338606911949],"aabb_xy":[[0.20338404136749322,0.9072236131000059],[0.2643525416215535,1.0072236126629979]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_33","position":[-0.48979432773179765,1.493713766905397,0.71338606911949],"aabb_xy":[[-0.49790798240517475,1.485607950451368],[-0.48168067305842055,1.5018195833594261]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6596348946609801,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8471.png","name":"8471"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8471.png","name":"8471"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6322.png","name":"6322"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1321.png","name":"1321"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2824.png","name":"2824"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9947.png","name":"9947"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":825.8641689378345,"rotation_z_degrees":58.55650038351438,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00829266695735141,0.003828223272375881,-0.003451277046997884]},{"name":"camera_2","offset_m":[0.005795750663704757,-0.009984893433178862,0.01915137352105432]},{"name":"camera_3","offset_m":[0.0003577829700259147,0.011949931997793397,-0.0010817610795770954]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00019934786604097038,-0.001340833203453077,-0.00199809369743623],"end_effector_yaw_offset_degrees":-0.19787608668057088},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002211955456480816,0.0009897077831411685,0.00021960979026469088],"end_effector_yaw_offset_degrees":-0.15847695715797272},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016503427556708297,0.00021494500484850985,0.00041214556832052177],"end_effector_yaw_offset_degrees":-0.0489224273953528}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038623573279392845,-0.004005284653825635],"position_m":[0.2007623573279393,0.3036947153461743,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016039523271637358,-0.00039920004436676346],"position_m":[0.24540395232716372,-0.3345992000443668,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00030759252468804624,-0.002493676381936798],"position_m":[0.29069240747531194,-0.0794936763819368,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031840418854569607,-0.0008270975174798478],"position_m":[0.33378404188545696,0.08007290248252015,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a4b990d6195f4d92aa07bda5d3eadcb2c4185caf84576442e2cdacb0ec4b376c","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8471/tex_ceiling_textures_9947/tex_floor_textures_2824/tex_table_textures_6322/tex_wall_textures_1321","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2812190415330809155,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2812190415330809155,"visual_seed":2812190415330809155,"scene_id":"lab_003","finished_at":"2026-09-04T08:11:34"}
+{"episode_id":"ep_000027","started_at":"2026-09-04T08:11:39","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.0025519197889009027,1.0155859984503746,0.71338606911949],"aabb_xy":[[-0.00785963889158281,1.0102402651144762],[0.012963478469384615,1.020931731786273]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[-0.257483936611666,1.2707241196035852,0.71338606911949],"aabb_xy":[[-0.3069643578256248,1.2067241216907334],[-0.20800351539770723,1.334724117516437]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[0.13753500836615284,-1.394222322211037,0.71338606911949],"aabb_xy":[[0.12954151857087084,-1.4022204541515129],[0.1455284981614349,-1.3862241902705617]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.5525604716889141,-0.7246728155943083,0.71338606911949],"aabb_xy":[[-0.5881896275888737,-0.7603054823511614],[-0.5169313157889542,-0.6890401488374555]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.5895498060581974,-0.6530551109889604,0.71338606911949],"aabb_xy":[[0.5670361142347402,-0.7230551115899678],[0.6120634978816546,-0.5830551103879528]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.38079872204697274,-0.031662391081549224,0.71338606911949],"aabb_xy":[[-0.41194564089055585,-0.1016623897683564],[-0.3496518032033896,0.03833760760525795]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.1130931161048544,0.3882230607591688,0.71338606911949],"aabb_xy":[[-0.12386609002622216,0.3532230625401298],[-0.1023201421834866,0.4232230589782078]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.044634745150480826,-1.8564495733907935,0.71338606911949],"aabb_xy":[[0.0024503309896500916,-1.920449573668005],[0.08681915931131157,-1.7924495731135826]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[0.47259648971549306,-2.1553773140669334,0.71338606911949],"aabb_xy":[[0.40759649155957406,-2.181673558616845],[0.5375964878714121,-2.129081069517021]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.07061136432495063,-0.08811486789102085,0.71338606911949],"aabb_xy":[[-0.13461136666775217,-0.13305571913515335],[-0.006611361982149066,-0.043174016646888365]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.17066428391046595,1.430335251155943,0.71338606911949],"aabb_xy":[[0.1362019365123241,1.3958413687581201],[0.2051266313086077,1.4648291335537655]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[0.3576040574602275,-1.1106022613198738,0.71338606911949],"aabb_xy":[[0.32260405748373167,-1.1200668773674904],[0.39260405743672333,-1.1011376452722572]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.19245467631855684,-2.367440362183948,0.71338606911949],"aabb_xy":[[0.10245467264163866,-2.428872768761052],[0.282454679995475,-2.306007955606843]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.0920239657359575,-0.5702454100067018,0.71338606911949],"aabb_xy":[[-0.12199152264578317,-0.6002454103045874],[-0.06205640882613184,-0.540245409708816]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.6546613170970261,-0.8745341937890381,0.71338606911949],"aabb_xy":[[0.6068551494832574,-0.9395341964960968],[0.7024674847107947,-0.8095341910819789]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[0.44123558436935273,-0.34744111557313406,0.71338606911949],"aabb_xy":[[0.3772355857827802,-0.3944480789726428],[0.5052355829559252,-0.30043415217362535]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[-0.5564056343916304,-0.16011770383163926,0.71338606911949],"aabb_xy":[[-0.6364056323724154,-0.16771924479349118],[-0.4764056364108454,-0.15251616286978728]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.5834283667293358,-1.7119389492464032,0.71338606911949],"aabb_xy":[[-0.5873888504990702,-1.719606813831924],[-0.5794678829596015,-1.7042710846608828]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[0.6645455944272556,-0.16498756411440318,0.71338606911949],"aabb_xy":[[0.6537051162007407,-0.182173845405052],[0.6753860726537705,-0.14780128282375438]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.6263538008752447,0.8349669521781475,0.71338606911949],"aabb_xy":[[0.6018075852524939,0.8047180556291105],[0.6509000164979953,0.8652158487271846]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.656836676466301,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/35.png","name":"35"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/35.png","name":"35"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3889.png","name":"3889"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2602.png","name":"2602"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6737.png","name":"6737"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4355.png","name":"4355"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":665.575057742202,"rotation_z_degrees":100.25536597787057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00953970560156372,-0.009346739200735308,0.007801104666517015]},{"name":"camera_2","offset_m":[0.005717500034120651,0.012771669023483232,-0.006071024830570076]},{"name":"camera_3","offset_m":[0.01776467920024483,0.0009757680384658955,-0.014246481771582662]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00046000977432147493,-0.0009727035561514876,-0.0005448920344123004],"end_effector_yaw_offset_degrees":0.26565524498924575},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016942511699384166,-7.749015822807728e-05,-0.00035869437305857243],"end_effector_yaw_offset_degrees":-0.5994729672590529},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008821378591979947,-0.0015659065103117498,-0.0019110858477245413],"end_effector_yaw_offset_degrees":-0.597509458185979}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037688578577588817,-0.0015929647528252176],"position_m":[0.1931311421422411,0.30610703524717475,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006788160023117676,0.003558385099019317],"position_m":[0.24447881600231175,-0.3306416149009807,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00400651389525046,-0.00020420829019061285],"position_m":[0.2869934861047495,-0.07720420829019062,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004339687575196605,0.0019387214614650702],"position_m":[0.3349396875751966,0.08283872146146506,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7a3ba89fb6d7228ca8a9e2ca7000b7f16947bf5b7ae6f5e1e671dace2bf94224","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_35/tex_ceiling_textures_4355/tex_floor_textures_6737/tex_table_textures_3889/tex_wall_textures_2602","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":948138840886954637,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":948138840886954637,"visual_seed":948138840886954637,"scene_id":"lab_003","finished_at":"2026-09-04T08:14:15"}
+{"episode_id":"ep_000028","started_at":"2026-09-04T08:14:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[0.005678441618893304,1.02441123396838,0.71338606911949],"aabb_xy":[[-0.0442042552588029,0.9744112347221052],[0.055561138496589516,1.0744112332146547]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.3665222012700308,-1.6519984124371394,0.71338606911949],"aabb_xy":[[-0.4465221992508158,-1.6595999533989916],[-0.2865222032892457,-1.6443968714752877]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[-0.5257558811589693,1.7184856585287878,0.71338606911949],"aabb_xy":[[-0.5907558793148884,1.6921894139788756],[-0.46075588300305026,1.7447819030787]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[0.500166883312694,0.23526964899545,0.71338606911949],"aabb_xy":[[0.4947089376756739,0.15526964568779086],[0.5056248289497141,0.3152696523031091]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[0.5512139530956246,-1.3999882166419753,0.71338606911949],"aabb_xy":[[0.5431876824649986,-1.4087397116193279],[0.5592402237262506,-1.3912367216646226]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[0.38138917684560636,1.4843780725544833,0.71338606911949],"aabb_xy":[[0.31738917767583635,1.4376113854355208],[0.44538917601537625,1.5311447596734458]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.3225495467877,0.8621132851972373,0.71338606911949],"aabb_xy":[[-0.33442162979920115,0.7771132855035869],[-0.3106774637761989,0.9471132848908876]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.20517145375324086,0.6259862928971174,0.71338606911949],"aabb_xy":[[0.17017145456042257,0.6150192468994546],[0.2401714529460591,0.6369533388947799]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.11691865924735367,0.38226489336192904,0.71338606911949],"aabb_xy":[[-0.12250033088148243,0.36976489354415354],[-0.11133698761322491,0.39476489317970453]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[0.2568899540607861,-1.3336427034321934,0.71338606911949],"aabb_xy":[[0.2488964642655041,-1.3416408353726692],[0.26488344385606816,-1.325644571491718]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.10904223797257873,0.5327771282657601,0.71338606911949],"aabb_xy":[[-0.18904224123042168,0.4527806204737761],[-0.029042234714735785,0.612773636057744]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[-0.4794874515990465,1.5246069198806285,0.71338606911949],"aabb_xy":[[-0.5044874508710087,1.5082615562844661],[-0.45448745232708415,1.5409522834767908]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[0.09823276731749797,-1.7195450704885396,0.71338606911949],"aabb_xy":[[0.07573276779379055,-1.74204101793916],[0.12073276684120536,-1.6970491230379185]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[0.3826296255154811,0.7047351764903294,0.71338606911949],"aabb_xy":[[0.36045709853883023,0.6825595093342062],[0.40480215249213186,0.7269108436464525]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[0.4270859335780104,0.41259445509974846,0.71338606911949],"aabb_xy":[[0.41984216753176506,0.3325944568961461],[0.4343296996242557,0.49259445330335083]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.2027701784283582,0.7752772180454155,0.71338606911949],"aabb_xy":[[0.1387701770203675,0.7234882665214907],[0.2667701798363488,0.8270661695693401]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[0.1451080734972917,-1.5089971927224597,0.71338606911949],"aabb_xy":[[0.10760807270529626,-1.51536503368065],[0.18260807428928716,-1.5026293517642695]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.5036544479690188,-0.3294848510576376,0.71338606911949],"aabb_xy":[[0.4486612366318822,-0.38448485139643124],[0.5586476593061557,-0.274484850718844]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.15182140638296104,1.4569489171263412,0.71338606911949],"aabb_xy":[[-0.2068214055595505,1.4019592423513834],[-0.09682140720637153,1.5119385919012986]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.24372558321572207,-2.4781547493701703,0.71338606911949],"aabb_xy":[[-0.28057613115270963,-2.515654750193204],[-0.20687503527873444,-2.4406547485471366]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.4704428911538734,-0.39956701415771034,0.71338606911949],"aabb_xy":[[-0.48085444983435705,-0.4049127474936088],[-0.4600313324733896,-0.3942212808218118]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[0.34300253254569,-1.6005667057190291,0.71338606911949],"aabb_xy":[[0.30800253341573436,-1.6063119267946933],[0.3780025316756457,-1.594821484643365]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6624423291640879,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4045.png","name":"4045"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4045.png","name":"4045"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3293.png","name":"3293"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1380.png","name":"1380"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8139.png","name":"8139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5541.png","name":"5541"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":718.3559106902508,"rotation_z_degrees":250.1296059100984,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010228973984093899,0.005114486593638123,-0.009892206509171837]},{"name":"camera_2","offset_m":[0.01913278203519687,0.014756981522671738,-0.008777741714701786]},{"name":"camera_3","offset_m":[0.0028711251998668787,-0.019033680733234314,-0.0004639041846248755]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00023793761209436708,-0.0009285087149779462,0.0019235034147898214],"end_effector_yaw_offset_degrees":0.6350539270170228},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001298103579856557,-0.0011637134134204112,-0.0011024683021727318],"end_effector_yaw_offset_degrees":0.20351753237806136},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013154552434744872,0.0016694938528347965,0.0008483132257130531],"end_effector_yaw_offset_degrees":0.7714603079421445}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0043859984251329535,-0.00499246348440265],"position_m":[0.19251400157486703,0.30270753651559734,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046845832440746546,-0.0006974353142561894],"position_m":[0.24848458324407463,-0.3348974353142562,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001681877321250168,0.004053731540859634],"position_m":[0.2893181226787498,-0.07294626845914036,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023458940526149274,-0.0017705800208499289],"position_m":[0.3282541059473851,0.07912941997915007,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dd3f0265828b3435f7050cbb3d0ff464c451b9d5d6e34a47904ddcb34a29b434","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0028.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4045/tex_ceiling_textures_5541/tex_floor_textures_8139/tex_table_textures_3293/tex_wall_textures_1380","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":444985060588069784,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":444985060588069784,"visual_seed":444985060588069784,"scene_id":"lab_003","finished_at":"2026-09-04T08:17:23"}
+{"episode_id":"ep_000029","started_at":"2026-09-04T08:17:27","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.1253362538686118,1.5762853519486053,0.71338606911949],"aabb_xy":[[0.07033625424686596,1.5213016591611328],[0.18033625349035765,1.6312690447360783]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.3481845090634212,-1.9034968831236951,0.71338606911949],"aabb_xy":[[-0.35622084376470603,-1.9115350024281117],[-0.34014817436213635,-1.8954587638192781]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.31517292911352546,-1.5097445122034843,0.71338606911949],"aabb_xy":[[-0.3260787052010881,-1.5897445086023132],[-0.3042671530259627,-1.429744515804655]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.5410495055064396,0.09368376828764235,0.71338606911949],"aabb_xy":[[-0.5466311771405683,0.08118376846986686],[-0.5354678338723109,0.10618376810541785]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.08429137217678151,1.309991436129688,0.71338606911949],"aabb_xy":[[-0.13928458351391826,1.2549914357908944],[-0.029298160839644753,1.3649914364684816]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[0.1927337435993075,1.1890864245177206,0.71338606911949],"aabb_xy":[[0.12773374544338845,1.1627901799678084],[0.25773374175522656,1.2153826690676328]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.503945912851396,0.6615167784718352,0.71338606911949],"aabb_xy":[[-0.5170971588226854,0.6365167787151488],[-0.49079466688010664,0.6865167782285219]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[0.3564813479802642,0.3925395339231095,0.71338606911949],"aabb_xy":[[0.3214813496695687,0.3848245189995638],[0.3914813462909596,0.4002545488466551]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[-0.39989140010378565,-2.4900347091633708,0.71338606911949],"aabb_xy":[[-0.46389140244658716,-2.5349755604075033],[-0.33589139776098403,-2.4450938579192383]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.4996837686512888,-1.4967681268054032,0.71338606911949],"aabb_xy":[[-0.5035976418467112,-1.50551714221196],[-0.4957698954558662,-1.4880191113988464]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.4871512291594937,0.32491902018285934,0.71338606911949],"aabb_xy":[[-0.4951774997901197,0.3161675252055068],[-0.4791249585288677,0.333670515160212]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[-0.12519597480408695,-1.550359302583163,0.71338606911949],"aabb_xy":[[-0.13318996338179034,-1.5583593826782534],[-0.11720198622638356,-1.5423592224880727]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[-0.36926595378552723,-1.165221557512691,0.71338606911949],"aabb_xy":[[-0.403728301183669,-1.1997154399105134],[-0.3348036063873854,-1.130727675114868]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[0.24316240689044122,-2.22916997497263,0.71338606911949],"aabb_xy":[[0.23826311458387767,-2.2568468942751982],[0.24806169919700466,-2.2014930556700607]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[-0.21283130754505003,-0.28384754149221747,0.71338606911949],"aabb_xy":[[-0.2295084435381455,-0.30054746546614775],[-0.1961541715519545,-0.2671476175182872]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[-0.03279748231116786,-1.7676740963163782,0.71338606911949],"aabb_xy":[[-0.05529661803739483,-1.7901740970946411],[-0.010298346584940887,-1.7451740955381152]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.03360385133555022,1.0276322420924626,0.71338606911949],"aabb_xy":[[-0.0561038511494526,1.0231576257219817],[-0.011103851521647834,1.0321068584629431]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.27983160938769336,-1.688136835240654,0.71338606911949],"aabb_xy":[[0.26899113116117845,-1.7053231165313028],[0.29067208761420826,-1.6709505539500054]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[0.5191949900278277,-1.0876144468565538,0.71338606911949],"aabb_xy":[[0.434194991335753,-1.1196003102514327],[0.6041949887199023,-1.055628583461675]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.15385468131184554,-2.016732954957419,0.71338606911949],"aabb_xy":[[-0.21785467989841797,-2.063739918356928],[-0.08985468272527306,-1.9697259915579104]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[0.17012002594613085,-1.1072606312859339,0.71338606911949],"aabb_xy":[[0.1061200242681335,-1.155778022765248],[0.2341200276241282,-1.0587432398066197]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[0.5624651191475796,1.120249246266937,0.71338606911949],"aabb_xy":[[0.5543514644742024,1.1121434298129078],[0.5705787738209566,1.128355062720966]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.18028308178217978,-0.6723114112483592,0.71338606911949],"aabb_xy":[[0.14988497068303616,-0.7027183132500288],[0.21068119288132334,-0.6419045092466897]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[-0.12386246117623945,0.9490789557262618,0.71338606911949],"aabb_xy":[[-0.1390346304578728,0.9339100987980585],[-0.1086902918946061,0.9642478126544652]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[-0.36363794517894704,-0.7952705466883256,0.71338606911949],"aabb_xy":[[-0.45332502148706244,-0.8852705469427763],[-0.27395086887083153,-0.7052705464338752]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_25","position":[-0.5094144783165461,1.2122971957805952,0.71338606911949],"aabb_xy":[[-0.5670449472038168,1.1522971968538844],[-0.4517840094292751,1.2722971947073056]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[0.6392709188441326,-2.3063429215993554,0.71338606911949],"aabb_xy":[[0.5980221078142177,-2.3613429211115724],[0.6805197298740472,-2.2513429220871375]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_27","position":[-0.21119140583811996,0.4649705488675524,0.71338606911949],"aabb_xy":[[-0.2156220351929601,0.45952217713286975],[-0.20676077648327976,0.47041892060223495]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_28","position":[-0.6348376631244235,-1.7347007418050535,0.71338606911949],"aabb_xy":[[-0.6848218988326007,-1.7847007406185489],[-0.5848534274162462,-1.6847007429915577]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_29","position":[-0.3091880419287226,-0.40667709784401085,0.71338606911949],"aabb_xy":[[-0.3179900972376953,-0.4144884239989399],[-0.30038598661974986,-0.39886577168908177]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6568644919927028,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1660.png","name":"1660"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1660.png","name":"1660"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9068.png","name":"9068"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4546.png","name":"4546"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1643.png","name":"1643"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9234.png","name":"9234"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":679.8828579962463,"rotation_z_degrees":261.0601484531947,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014417022239066404,0.005256449228673091,0.006374679303875187]},{"name":"camera_2","offset_m":[-0.01786860028713006,0.003469199143427703,0.001685062301589671]},{"name":"camera_3","offset_m":[-0.007428467506909708,0.012359712934059002,0.015765366499263387]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002851997466738927,0.0009793205619342332,9.658663856184973e-05],"end_effector_yaw_offset_degrees":0.8566695339903883},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00037807213565639684,0.0013702131164489225,-0.0012530116706047539],"end_effector_yaw_offset_degrees":0.38033235206666216},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011632587719722877,0.0006339636864465367,-0.00016996605176012778],"end_effector_yaw_offset_degrees":0.7394742887417769}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00021602239086059884,-0.0034182476153450515],"position_m":[0.1966839776091394,0.30428175238465494,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037370066100502987,-0.003961415122553907],"position_m":[0.24006299338994969,-0.33816141512255393,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001162316823216335,-0.001013640714887699],"position_m":[0.28983768317678366,-0.0780136407148877,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004923087703597181,-0.0013015202469609656],"position_m":[0.3355230877035972,0.07959847975303903,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"637fcde3414ead725b7c9c50cd15d5e47509474b60ac760d5304ed6a0e17d789","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1660/tex_ceiling_textures_9234/tex_floor_textures_1643/tex_table_textures_9068/tex_wall_textures_4546","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3715102446089339805,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3715102446089339805,"visual_seed":3715102446089339805,"scene_id":"lab_003","finished_at":"2026-09-04T08:20:29"}
+{"episode_id":"ep_000030","started_at":"2026-09-04T08:20:32","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.582177592894675,1.6975874706686196,0.71338606911949],"aabb_xy":[[-0.6621775898577141,1.6205118290248461],[-0.5021775959316358,1.774663112312393]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[0.19343999063586825,-1.9279664638149865,0.71338606911949],"aabb_xy":[[0.15593999013850998,-1.9319351473631052],[0.23093999113322647,-1.9239977802668682]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.4726734458668638,-1.7091905061278596,0.71338606911949],"aabb_xy":[[0.4076734473097908,-1.7389430395417422],[0.5376734444239365,-1.679437972713977]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.0684819285665702,-2.3222490944144694,0.71338606911949],"aabb_xy":[[0.01838446458549657,-2.386249094924281],[0.11857939254764381,-2.2582490939046576]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.4807778476086666,-1.5291642715724327,0.71338606911949],"aabb_xy":[[0.47000487368729876,-1.5641642697914717],[0.4915508215300343,-1.4941642733533937]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.7075608441952328,-1.250980699685063,0.71338606911949],"aabb_xy":[[0.7005193932444852,-1.2580074514228574],[0.7146022951459804,-1.2439539479472685]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.4089693144985223,-2.435927676394918,0.71338606911949],"aabb_xy":[[-0.4264693147435717,-2.453427464234484],[-0.3914693142534729,-2.4184278885553505]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[-0.5193308917077677,-0.9607155861143226,0.71338606911949],"aabb_xy":[[-0.5443308912595062,-0.9708580699794574],[-0.4943308921560292,-0.950573102249188]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.39409463631999236,1.4143815519765846,0.71338606911949],"aabb_xy":[[-0.4139856762003327,1.4017257406918877],[-0.3742035964396522,1.4270373632612814]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.48784961952154293,-0.46911591087179927,0.71338606911949],"aabb_xy":[[0.4796350744058589,-0.47779250116944044],[0.49606416463722686,-0.4604393205741579]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[-0.15906994601417068,-2.224774295693351,0.71338606911949],"aabb_xy":[[-0.19406994591018956,-2.233148531205291],[-0.12406994611815182,-2.216400060181411]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[0.2686798547074585,0.6297709386286452,0.71338606911949],"aabb_xy":[[0.20467985742180983,0.5882642196758012],[0.3326798519931071,0.6712776575814892]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.5972924134500343,-0.411752735727934,0.71338606911949],"aabb_xy":[[-0.6522878912706936,-0.4667527371618409],[-0.5422969356293749,-0.35675273429402704]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[-0.2578513169227405,1.5649420808123895,0.71338606911949],"aabb_xy":[[-0.32185131860073785,1.5164246893330753],[-0.19385131524474314,1.6134594722917037]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[0.3006698005542252,-1.7952137437950535,0.71338606911949],"aabb_xy":[[0.2366697985044932,-1.8353082268843612],[0.3646698026039572,-1.7551192607057453]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.3534520687599209,-1.8738193925180295,0.71338606911949],"aabb_xy":[[-0.40343630446809814,-1.9238193913315251],[-0.3034678330517437,-1.823819393704534]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[0.07386434802879138,-1.2067085083154792,0.71338606911949],"aabb_xy":[[0.008864347071664181,-1.2586567202491847],[0.1388643489859186,-1.1547602963817736]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.3272690093437595,-2.034303440181222,0.71338606911949],"aabb_xy":[[-0.38726900959516064,-2.0885847652176865],[-0.2672690090923583,-1.9800221151447575]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[0.24873126083592345,0.9794991106869002,0.71338606911949],"aabb_xy":[[0.23787965458704782,0.9686398199592491],[0.25958286708479905,0.9903584014145511]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[0.568835425593132,-0.3148279880383411,0.71338606911949],"aabb_xy":[[0.5514047105141254,-0.3321001027021919],[0.5862661406721384,-0.2975558733744903]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[-0.6502316936137775,0.25947725873035976,0.71338606911949],"aabb_xy":[[-0.6867275142410563,0.22299331630360214],[-0.6137358729864988,0.29596120115711727]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[0.6124747279507785,-0.2302524839933633,0.71338606911949],"aabb_xy":[[0.5874747286788161,-0.24659784758952563],[0.6374747272227407,-0.21390712039720094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6564760370101902,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1317.png","name":"1317"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1317.png","name":"1317"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5085.png","name":"5085"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3671.png","name":"3671"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3927.png","name":"3927"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/955.png","name":"955"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":564.5918473943854,"rotation_z_degrees":88.82848047135813,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011274108487474666,0.007529869600950274,0.010753966274605075]},{"name":"camera_2","offset_m":[0.014203409429311729,-0.017857478518667192,-0.009662707575515843]},{"name":"camera_3","offset_m":[-0.00019085983569364084,-0.013776489112734911,0.0066884603437353495]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00035206438351682054,0.0018410114072046186,0.0014726998654199372],"end_effector_yaw_offset_degrees":-0.9537541267126237},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017597108215874724,0.0008702808987496825,-0.0005589746757104805],"end_effector_yaw_offset_degrees":-0.8458160105332886},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003200136624834111,-0.0008002647935068112,-0.000943784845592924],"end_effector_yaw_offset_degrees":-0.5994993842062397}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001002016261945772,0.003341438760180741],"position_m":[0.19589798373805423,0.3110414387601807,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00018707673784828203,0.002790364413172072],"position_m":[0.2436129232621517,-0.3314096355868279,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003002445892228767,0.00037804339219893804],"position_m":[0.2879975541077712,-0.07662195660780106,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024067635740361304,0.0037772857707737166],"position_m":[0.33300676357403614,0.08467728577077371,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"373a8e8c07ae9018f88fb15a8d5616345511b72bdebb117de13487f53c36e3cb","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1317/tex_ceiling_textures_955/tex_floor_textures_3927/tex_table_textures_5085/tex_wall_textures_3671","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6293078301231124442,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6293078301231124442,"visual_seed":6293078301231124442,"scene_id":"lab_003","finished_at":"2026-09-04T08:23:48"}
+{"episode_id":"ep_000031","started_at":"2026-09-04T08:23:51","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[0.5958972323314651,1.6603451993262044,0.71338606911949],"aabb_xy":[[0.5921939710023261,1.6566431810174864],[0.5996004936606039,1.664047217634922]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.2743979574507448,1.0825317246118762,0.71338606911949],"aabb_xy":[[0.24193625656881732,1.0523988924969734],[0.3068596583326722,1.1126645567267786]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.32019373893343883,-2.3282631195485877,0.71338606911949],"aabb_xy":[[0.27800932477260804,-2.392263119825799],[0.3623781530942695,-2.2642631192713765]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.4153278111028422,0.7625462602877056,0.71338606911949],"aabb_xy":[[-0.46032039782129264,0.7175462610132567],[-0.3703352243843918,0.8075462595621542]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.4972771179730855,0.20612601584825851,0.71338606911949],"aabb_xy":[[0.4864366397465706,0.1889397345576097],[0.5081175961996004,0.22331229713890732]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.2826774646429526,-2.3176996170925865,0.71338606911949],"aabb_xy":[[-0.33267746500351864,-2.3676796043021895],[-0.23267746428238653,-2.2677196298829836]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[-0.041628621625205975,-0.2919450344439092,0.71338606911949],"aabb_xy":[[-0.04576447795790617,-0.32944503388826624],[-0.03749276529250578,-0.25444503499955223]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.4113591425845988,1.5225899355777357,0.71338606911949],"aabb_xy":[[0.38613830572475905,1.4973661847248487],[0.4365799794444384,1.5478136864306222]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[-0.5019323828485088,1.2470514982606762,0.71338606911949],"aabb_xy":[[-0.5514128040624676,1.1830515003478246],[-0.45245196163455004,1.3110514961735282]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[0.5147165815896029,-0.5316454702491846,0.71338606911949],"aabb_xy":[[0.45071658088613353,-0.5776638527221057],[0.5787165822930722,-0.48562708777626373]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[0.3368979955145961,-1.8349770242547945,0.71338606911949],"aabb_xy":[[0.28976861651276037,-1.898977025299196],[0.3840273745164317,-1.770977023210392]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[-0.49676284409372184,-0.7875146220569211,0.71338606911949],"aabb_xy":[[-0.521762843365684,-0.8038599856530835],[-0.47176284482175956,-0.7711692584607588]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.08310610916119054,0.41347108652952613,0.71338606911949],"aabb_xy":[[-0.10053682424019705,0.3961989718656753],[-0.06567539408218404,0.43074320119337695]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.5765634122774177,-0.8766485926661078,0.71338606911949],"aabb_xy":[[0.5415634123813988,-0.8850228281780478],[0.6115634121734366,-0.8682743571541679]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.23887191954437076,0.8760897578381943,0.71338606911949],"aabb_xy":[[-0.2763719207291635,0.8716715351421337],[-0.20137191835957796,0.8805079805342547]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.14448579837689313,1.35017498428827,0.71338606911949],"aabb_xy":[[-0.22448579703377913,1.3356701253640073],[-0.06448579972000712,1.364679843212533]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.5719567517500395,-1.0942243112020764,0.71338606911949],"aabb_xy":[[-0.6105024445752406,-1.1327700822582651],[-0.5334110589248385,-1.0556785401458877]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[0.3989093337205134,0.8801222645578197,0.71338606911949],"aabb_xy":[[0.3614093322048817,0.8688954915416747],[0.4364093352361451,0.8913490375739648]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[0.5790078201240294,-2.4841254475573304,0.71338606911949],"aabb_xy":[[0.5150078182116871,-2.540036596815341],[0.6430078220363717,-2.42821429829932]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.23320315601009556,-1.277828555352276,0.71338606911949],"aabb_xy":[[0.15320315457996833,-1.3573457103648854],[0.31320315744022276,-1.1983114003396664]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[0.41695104441948305,-2.2740398842180705,0.71338606911949],"aabb_xy":[[0.4089076844935279,-2.3590398853134364],[0.4249944043454382,-2.1890398831227036]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.34593630798887287,-0.9597308387282364,0.71338606911949],"aabb_xy":[[0.31545205786184266,-1.0097308385097323],[0.37642055811590297,-0.9097308389467404]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[0.2752047423680186,-0.5816741138645676,0.71338606911949],"aabb_xy":[[0.25609243501003975,-0.6008088927418096],[0.2943170497259975,-0.5625393349873256]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_23","position":[-0.32919997181614635,-0.516365453278032,0.71338606911949],"aabb_xy":[[-0.36605051975313396,-0.5538654541010657],[-0.29234942387915874,-0.47886545245499823]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[-0.476629927588622,0.5249295957517179,0.71338606911949],"aabb_xy":[[-0.5016299271403604,0.5147871118865832],[-0.45162992803688345,0.5350720796168527]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[0.04914312925561093,-0.6445848443618345,0.71338606911949],"aabb_xy":[[0.012647308628332195,-0.6810687867885921],[0.08563894988288967,-0.6081009019350769]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_26","position":[-0.4878629315308407,-1.5104157208399716,0.71338606911949],"aabb_xy":[[-0.571585157030923,-1.6004157243746673],[-0.40414070603075813,-1.4204157173052754]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_27","position":[0.5558060177960442,0.917074891896998,0.71338606911949],"aabb_xy":[[0.5006808121664534,0.8570748904557107],[0.610931223425635,0.977074893338285]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_28","position":[-0.39035521701306936,-2.4386435790653946,0.71338606911949],"aabb_xy":[[-0.4278552168301029,-2.4432817903765365],[-0.3528552171960358,-2.434005367754253]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_29","position":[0.12772775208978493,1.2914975122505727,0.71338606911949],"aabb_xy":[[0.0993980421412447,1.287036770056856],[0.15605746203832516,1.29595825444429]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_30","position":[-0.258629929710896,0.6928486562007792,0.71338606911949],"aabb_xy":[[-0.3226299299713668,0.647839856847851],[-0.1946299294504252,0.737857455553707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.658405010735541,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9545.png","name":"9545"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9545.png","name":"9545"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2668.png","name":"2668"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1058.png","name":"1058"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1282.png","name":"1282"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9739.png","name":"9739"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":648.2321484396011,"rotation_z_degrees":150.62758090380643,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018568869056799473,0.005747456638508629,0.017760698054873503]},{"name":"camera_2","offset_m":[-0.01924388606051134,-0.007050544460967836,-0.003234175365684079]},{"name":"camera_3","offset_m":[0.00909071833713377,0.004221355520013296,-0.0038417764377277758]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019420516776669473,-0.0011684892851227633,0.0005068052865606029],"end_effector_yaw_offset_degrees":0.9129911175864873},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019306370256843772,0.00013213765511048458,-0.0003339116173266903],"end_effector_yaw_offset_degrees":0.44291813178303485},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006509322384866609,-0.0008462969922962294,-0.0004168353068002926],"end_effector_yaw_offset_degrees":0.5466327615739861}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019143918927685038,0.0025632189165606016],"position_m":[0.1988143918927685,0.31026321891656056,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014843967738800501,-0.003197784200710451],"position_m":[0.24231560322611995,-0.3373977842007104,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038815606825589235,-0.001689284149852054],"position_m":[0.2871184393174411,-0.07868928414985206,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003428581684378702,0.0047620584527975586],"position_m":[0.3340285816843787,0.08566205845279756,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7a3b2c7937e735cf359cd44228e7ce4426450e170510bf00c5860139466390d9","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0031.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9545/tex_ceiling_textures_9739/tex_floor_textures_1282/tex_table_textures_2668/tex_wall_textures_1058","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4751988692363575662,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4751988692363575662,"visual_seed":4751988692363575662,"scene_id":"lab_003","finished_at":"2026-09-04T08:26:57"}
+{"episode_id":"ep_000032","started_at":"2026-09-04T08:27:00","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[0.25762150485847557,-0.7646893034764284,0.71338606911949],"aabb_xy":[[0.1776215062711561,-0.8440049054145893],[0.33762150344579495,-0.6853737015382675]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.6314784013875783,1.199139068521184,0.71338606911949],"aabb_xy":[[-0.6689783999631991,1.1864027728576259],[-0.5939784028119575,1.2118753641847417]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[0.40748874667252477,-1.0014334571053818,0.71338606911949],"aabb_xy":[[0.3434887475027548,-1.0482001442243443],[0.4714887458422947,-0.9546667699864194]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[0.14999075016381747,-1.4367891552849337,0.71338606911949],"aabb_xy":[[0.1001739706989827,-1.486789153769237],[0.19980752962865223,-1.3867891568006303]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.6361858619081509,0.3852261759061255,0.71338606911949],"aabb_xy":[[-0.686185137076587,0.33522617463017834],[-0.5861865867397147,0.4352261771820727]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.11742072024761108,-1.769008030118394,0.71338606911949],"aabb_xy":[[0.08364516105691809,-1.7830465253315588],[0.15119627943830405,-1.754969534905229]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.5747527355265118,-0.15236661894925696,0.71338606911949],"aabb_xy":[[0.4850656592183964,-0.24236661920370747],[0.6644398118346273,-0.06236661869480639]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.48867158188502,-2.316039585597178,0.71338606911949],"aabb_xy":[[0.4511715810930245,-2.322407426555368],[0.5261715826770155,-2.3096717446389876]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.5959130980177292,-0.5023802659523295,0.71338606911949],"aabb_xy":[[0.545913097657163,-0.5523602531619325],[0.6459130983782951,-0.45240027874272665]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.3766264330486717,-1.9206988162928549,0.71338606911949],"aabb_xy":[[0.3216332217115349,-1.9756988166316487],[0.43161964438580847,-1.8656988159540615]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.3577317094387884,1.5154600156252118,0.71338606911949],"aabb_xy":[[0.3077317084882556,1.4839108686216904],[0.4077317103893212,1.5470091626287332]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[0.19475275283895543,-2.227119163258695,0.71338606911949],"aabb_xy":[[0.13075275092661312,-2.2830303125167055],[0.2587527547512978,-2.1712080140006846]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[0.07991194056592232,1.5527839383042772,0.71338606911949],"aabb_xy":[[0.02589634428402232,1.4887839354120198],[0.13392753684782233,1.6167839411965341]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[0.41677915999768955,-2.088121222562939,0.71338606911949],"aabb_xy":[[0.35277916141111704,-2.135128185962448],[0.48077915858426196,-2.0411142591634306]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.16850599411258838,0.48889345950518726,0.71338606911949],"aabb_xy":[[-0.23250599633299537,0.44452037537989897],[-0.10450599189218132,0.5332665436304755]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.5649050338093946,1.1190455861821973,0.71338606911949],"aabb_xy":[[0.5274050338656282,1.1107524961473607],[0.602405033753161,1.1273386762170339]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[-0.5182654380147187,1.3605004555215605,0.71338606911949],"aabb_xy":[[-0.568265439033854,1.3240342397837326],[-0.46826543699558343,1.3969666712593884]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.5386144577978851,-1.1369957520613159,0.71338606911949],"aabb_xy":[[-0.6002052170218778,-1.2009957501703628],[-0.47702369857389215,-1.072995753952269]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[-0.3164010295774071,-0.06958518610576903,0.71338606911949],"aabb_xy":[[-0.326157019086581,-0.07934772016500345],[-0.30664504006823323,-0.05982265204653457]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[-0.3627410415623544,-0.7137711786933658,0.71338606911949],"aabb_xy":[[-0.4267410386744601,-0.7628035484877763],[-0.29874104445024874,-0.6647388088989551]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[0.3810679723064563,0.8825361844790538,0.71338606911949],"aabb_xy":[[0.31606797134932907,0.8305879725453482],[0.4460679732635835,0.9344843964127594]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[0.09723800379541614,-1.1249969795102022,0.71338606911949],"aabb_xy":[[0.007238000118497968,-1.1864293860873063],[0.18723800747233432,-1.0635645729330976]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[-0.4496933538383989,0.27408750014682015,0.71338606911949],"aabb_xy":[[-0.4715831014273397,0.184087502857571],[-0.4278036062494581,0.3640874974360692]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[0.4980615647237079,1.0480398353270068,0.71338606911949],"aabb_xy":[[0.4730615654517456,1.0316944717308445],[0.5230615639956702,1.0643851989231692]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.6185548329245161,-0.42050766816221463,0.71338606911949],"aabb_xy":[[-0.6825548346025133,-0.46902505964152885],[-0.5545548312465186,-0.3719902766829004]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[-0.2997275347821404,-1.8259960492775626,0.71338606911949],"aabb_xy":[[-0.3125994382830805,-1.9059960496913988],[-0.28685563128120023,-1.7459960488637265]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6596608382041587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4633.png","name":"4633"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4633.png","name":"4633"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2610.png","name":"2610"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9065.png","name":"9065"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6138.png","name":"6138"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4542.png","name":"4542"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":556.4089866432057,"rotation_z_degrees":62.20433230490323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007193501371117534,-0.014843306469961636,-0.007047423890148851]},{"name":"camera_2","offset_m":[0.013828911442825043,0.01104281480860676,-0.019642824721537885]},{"name":"camera_3","offset_m":[-0.002664635185301526,-0.009069453247557422,0.002054997252052441]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012384062394100682,0.0019745427597512213,0.0013262349041885755],"end_effector_yaw_offset_degrees":-0.0705344084134103},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003938482684803155,0.0006177597058656622,0.00010527972743783155],"end_effector_yaw_offset_degrees":-0.09138687208947571},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014946736361094383,-0.0018542477112952595,0.0016327182163078228],"end_effector_yaw_offset_degrees":0.7599121610219814}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011601087738918915,0.0019304418286307957],"position_m":[0.1957398912261081,0.30963044182863075,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00455768796177942,0.004618454847705829],"position_m":[0.2483576879617794,-0.32958154515229415,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029941139085573826,0.0016820859199763076],"position_m":[0.29399411390855734,-0.0753179140800237,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003725722635183508,-0.0020776579367038075],"position_m":[0.3268742773648165,0.07882234206329619,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"014457e9cdd35008a97acc41acbb42c5776104bd57a5060e6c5b26f5453224ba","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0032.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4633/tex_ceiling_textures_4542/tex_floor_textures_6138/tex_table_textures_2610/tex_wall_textures_9065","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":176386281246189983,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":176386281246189983,"visual_seed":176386281246189983,"scene_id":"lab_003","finished_at":"2026-09-04T08:29:57"}
+{"episode_id":"ep_000033","started_at":"2026-09-04T08:30:00","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[-0.599862875808499,1.4606076536554666,0.71338606911949],"aabb_xy":[[-0.610430355466598,1.450062623542458],[-0.5892953961503999,1.4711526837684752]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[-0.5328965339730307,-1.762517974644115,0.71338606911949],"aabb_xy":[[-0.5441415895436484,-1.7737597723682104],[-0.5216514784024128,-1.7512761769200198]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.4002124470581201,-1.0895493341566351,0.71338606911949],"aabb_xy":[[-0.4500292265229548,-1.1395493326409385],[-0.3503956675932853,-1.0395493356723318]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.42292607408683947,-0.9851868993810051,0.71338606911949],"aabb_xy":[[0.38860979691222153,-1.0351868993541826],[0.4572423512614574,-0.9351868994078273]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.23352216405594173,-1.3298476463606397,0.71338606911949],"aabb_xy":[[0.18363946717824553,-1.3798476456069144],[0.2834048609336379,-1.279847647114365]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.3734534414887509,1.3755246529335352,0.71338606911949],"aabb_xy":[[0.3423065226451678,1.3055246542467278],[0.40460036033233404,1.4455246516203422]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[0.5635986177174563,1.6368597513540393,0.71338606911949],"aabb_xy":[[0.4785986193000331,1.5519854558917543],[0.6485986161348796,1.7217340468163242]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[-0.5479300921419775,-2.5381986246494534,0.71338606911949],"aabb_xy":[[-0.6129300932479209,-2.5631639977175817],[-0.48293009103603435,-2.513233251581325]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.16306777633885083,-0.5716552565640431,0.71338606911949],"aabb_xy":[[-0.17553513444858648,-0.5841205811973668],[-0.15060041822911518,-0.5591899319307198]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.5340002505698109,-1.1668368676855503,0.71338606911949],"aabb_xy":[[0.5213734632826146,-1.1763829413871232],[0.5466270378570073,-1.1572907939839774]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[0.6669133901665765,-2.1798007396791874,0.71338606911949],"aabb_xy":[[0.616930439979097,-2.2298007393217474],[0.7168963403540557,-2.1298007400366266]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[-0.05479394541851412,1.2158628524521715,0.71338606911949],"aabb_xy":[[-0.13478776899707234,1.13586284985933],[0.025199878160044105,1.295862855045013]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[-0.6414437210314514,-1.099954485268753,0.71338606911949],"aabb_xy":[[-0.666664557891291,-1.1251782361216394],[-0.6162228841716116,-1.0747307344158659]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[-0.3680813987209857,-0.05687100292595382,0.71338606911949],"aabb_xy":[[-0.3761076693516117,-0.06562249790330643],[-0.3600551280903597,-0.0481195079486012]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[-0.6363207832109831,-1.7402844427507729,0.71338606911949],"aabb_xy":[[-0.6495517287456644,-1.7535118617727723],[-0.6230898376763018,-1.7270570237287735]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.6091382031443289,-1.5670877456408674,0.71338606911949],"aabb_xy":[[-0.6294225058677275,-1.587370370783576],[-0.58885390042093,-1.5468051204981583]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[-0.41012821354094675,0.021731473803063395,0.71338606911949],"aabb_xy":[[-0.41884218259088113,-0.0007685268561248292],[-0.40141424449101215,0.04423147446225161]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[-0.11086931703156355,0.5580331648994847,0.71338606911949],"aabb_xy":[[-0.11478319022698608,0.549284149492928],[-0.10695544383614103,0.5667821803060417]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.516783984584775,-2.4001637437756846,0.71338606911949],"aabb_xy":[[-0.5517839828954705,-2.40787875869923],[-0.4817839862740796,-2.3924487288521386]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.016639615559601473,-0.7275120225141418,0.71338606911949],"aabb_xy":[[-0.06336038242118357,-0.7351135634759937],[0.09663961354038651,-0.7199104815522898]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[0.6070902568378402,-0.7240820070251832,0.71338606911949],"aabb_xy":[[0.5820902569053223,-0.7309646752461065],[0.6320902567703581,-0.7171993388042599]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.3844470489315204,-2.3115103114013102,0.71338606911949],"aabb_xy":[[0.3715751454305802,-2.391510311815146],[0.39731895243246046,-2.2315103109874737]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[0.4147109209841746,0.7030990202034113,0.71338606911949],"aabb_xy":[[0.34471092457421276,0.6826610845517295],[0.48471091739413635,0.7235369558550929]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[0.4797353265069617,1.194993695143225,0.71338606911949],"aabb_xy":[[0.4297510907987845,1.1449936963297291],[0.5297195622151389,1.2449936939567203]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.5523457257437325,-0.904940376470105,0.71338606911949],"aabb_xy":[[-0.5873457270952143,-0.9253001124269257],[-0.5173457243922508,-0.884580640513284]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[0.4658961380557358,-2.110412171276842,0.71338606911949],"aabb_xy":[[0.4187667590539001,-2.1744121723212433],[0.5130255170575715,-2.0464121702324394]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[0.1371535336069264,-1.61005121963857,0.71338606911949],"aabb_xy":[[0.0918749187257771,-1.6740512189867536],[0.18243214848807562,-1.5460512202903862]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[-0.6155739971859843,-1.8830218484687542,0.71338606911949],"aabb_xy":[[-0.6306762986470021,-1.8981233700998157],[-0.600471695724966,-1.8679203268376918]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_28","position":[0.23945323136191965,-2.222125854075301,0.71338606911949],"aabb_xy":[[0.2219532320838328,-2.239463954141647],[0.2569532306400065,-2.204787754008955]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_29","position":[0.4647840339011444,0.1766139208919717,0.71338606911949],"aabb_xy":[[0.40978403569939953,0.13609195426553408],[0.5197840321028891,0.21713588751840926]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_30","position":[0.36125990422417,-1.7634490283211308,0.71338606911949],"aabb_xy":[[0.30626442640351054,-1.8184490297550377],[0.4162553820448293,-1.7084490268872239]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555789731575992,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8091.png","name":"8091"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8091.png","name":"8091"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5002.png","name":"5002"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5873.png","name":"5873"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6265.png","name":"6265"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/596.png","name":"596"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":757.0693271030373,"rotation_z_degrees":148.7759901343228,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016467361652323147,-0.009196997939690825,0.009762711940780103]},{"name":"camera_2","offset_m":[0.018950692967670938,0.006993553878494985,0.01159789662308489]},{"name":"camera_3","offset_m":[-0.016919444279291703,-0.0024051556114350926,0.0015034293347612644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019762537277899445,0.0019269832976617114,-0.0004931711134809084],"end_effector_yaw_offset_degrees":-0.8387288148526431},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001308692699486315,0.0006209096877919924,0.0016056781092872313],"end_effector_yaw_offset_degrees":-0.8773067325570267},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018452761211153446,-0.0010302080945315138,0.001438358381976453],"end_effector_yaw_offset_degrees":0.4044155231260622}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024501560657121013,-0.004840974488385886],"position_m":[0.19444984393428788,0.3028590255116141,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002784427835284551,0.0001456898364797423],"position_m":[0.24101557216471545,-0.3340543101635203,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032453544297558166,-0.004053393306003149],"position_m":[0.28775464557024416,-0.08105339330600314,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004125343485412232,-0.004231579856792398],"position_m":[0.3347253434854122,0.0766684201432076,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1b221deacb53d6c6de5e4e5c8e8469773df7a68ddaca91d517b5e795019ce29f","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8091/tex_ceiling_textures_596/tex_floor_textures_6265/tex_table_textures_5002/tex_wall_textures_5873","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3717815011579854730,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3717815011579854730,"visual_seed":3717815011579854730,"scene_id":"lab_003","finished_at":"2026-09-04T08:33:03"}
+{"episode_id":"ep_000034","started_at":"2026-09-04T08:33:06","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[0.4293429969631981,-1.9898346949900576,0.71338606911949],"aabb_xy":[[0.42542912376777553,-1.998583710396614],[0.4332568701586206,-1.9810856795835003]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[0.4999460319773745,-0.20805620627845833,0.71338606911949],"aabb_xy":[[0.43994603138135835,-0.2628686788236818],[0.5599460325733907,-0.15324373373323488]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[0.31303688588048506,0.8843286392352758,0.71338606911949],"aabb_xy":[[0.30504339608520303,0.8763305072948004],[0.3210303756757671,0.8923267711757517]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[0.31657940301808773,1.580571556859398,0.71338606911949],"aabb_xy":[[0.2927431853774827,1.4905715560509119],[0.3404156206586928,1.670571557667885]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[0.46659967104247313,1.1584235603893478,0.71338606911949],"aabb_xy":[[0.4165996696815859,1.1084456558139322],[0.5165996724033604,1.2084014649647634]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[0.4966756114409985,-1.9192756452734465,0.71338606911949],"aabb_xy":[[0.4616756122481801,-1.9302426912711086],[0.5316756106338166,-1.9083085992757836]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.013701237003821864,-1.2183961787475432,0.71338606911949],"aabb_xy":[[-0.04154627378442899,-1.249180677485855],[0.01414379977678526,-1.1876116800092316]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.47639432199817267,1.0329416503306534,0.71338606911949],"aabb_xy":[[-0.5563943241609351,0.9529864667045098],[-0.3963943198354102,1.112896833956797]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.2652733689874417,1.4653165478588908,0.71338606911949],"aabb_xy":[[-0.29973571638558344,1.4308226654610678],[-0.23081102158929986,1.4998104302567132]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.17100852596859428,-1.3828652793579803,0.71338606911949],"aabb_xy":[[0.1639670750178467,-1.389892031095775],[0.17804997691934188,-1.3758385276201857]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.268661388087694,-0.995747640737159,0.71338606911949],"aabb_xy":[[-0.323653638723205,-1.0507476424804718],[-0.21366913745218313,-0.9407476389938464]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.12977407927907858,-0.07405240003450375,0.71338606911949],"aabb_xy":[[-0.14727401271306192,-0.09155239995473828],[-0.11227414584509518,-0.056552400114269194]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.6155990097008808,-0.9571306430314783,0.71338606911949],"aabb_xy":[[0.5980990105665136,-0.9670102700690661],[0.633099008835248,-0.9472510159938905]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[0.4538660676099382,-0.4672868113410322,0.71338606911949],"aabb_xy":[[0.4038712346819966,-0.5172868102362758],[0.5038609005378798,-0.4172868124457887]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.3589897138555395,-1.9194164399263742,0.71338606911949],"aabb_xy":[[-0.4239897120114586,-1.9457126844762862],[-0.29398971569962046,-1.8931201953764618]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[-0.10730823323577321,-2.505931251416778,0.71338606911949],"aabb_xy":[[-0.11771979191625691,-2.511276984752676],[-0.09689667455528948,-2.500585518080879]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[-0.2203183575344329,-0.754685888186204,0.71338606911949],"aabb_xy":[[-0.2571129906593392,-0.7915917632827862],[-0.18352372440952663,-0.7177800130896217]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[-0.6171873089421247,-1.2020669765885772,0.71338606911949],"aabb_xy":[[-0.6632724001968562,-1.266066973841132],[-0.5711022176873932,-1.1380669793360219]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.48202124199508356,0.7967576315229059,0.71338606911949],"aabb_xy":[[-0.49004751262570956,0.7880061365455533],[-0.47399497136445756,0.8055091265002585]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.0811438451905444,-2.276943621829883,0.71338606911949],"aabb_xy":[[0.07244588289982912,-2.289068596137358],[0.0898418074812597,-2.2648186475224086]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[0.4717920156392237,-1.617444562910893,0.71338606911949],"aabb_xy":[[0.46771385773217394,-1.621525543159156],[0.4758701735462734,-1.6133635826626294]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.33524782639660633,-1.2744637926251734,0.71338606911949],"aabb_xy":[[0.3240027708259885,-1.2857055903492687],[0.34649288196722416,-1.2632219949010781]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[0.673769109233403,-2.0081030427928774,0.71338606911949],"aabb_xy":[[0.6236716452523294,-2.0721030433026892],[0.7238665732144767,-1.9441030422830656]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[0.2924416599399936,-2.4949140610234606,0.71338606911949],"aabb_xy":[[0.27726949065836026,-2.5100829179516637],[0.30761382922162694,-2.4797452040952574]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[-0.5827003926684384,1.4504788282827126,0.71338606911949],"aabb_xy":[[-0.6321808138823972,1.386478830369861],[-0.5332199714544796,1.5144788261955646]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[-0.03476912110745467,-1.8791876030891763,0.71338606911949],"aabb_xy":[[-0.04485082818602814,-1.959187600981291],[-0.024687414028881187,-1.7991876051970617]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[-0.19030143330217708,0.9857396248008792,0.71338606911949],"aabb_xy":[[-0.2753014317196003,0.9008653293385943],[-0.10530143488475388,1.0706139202631642]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[-0.30821975579521976,1.7121216413479199,0.71338606911949],"aabb_xy":[[-0.3979068321033353,1.6221216410934696],[-0.21853267948710436,1.8021216416023706]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_28","position":[-0.5990849220878873,0.11919570279984315,0.71338606911949],"aabb_xy":[[-0.6790849194914806,0.03920313160166034],[-0.5190849246842938,0.19918827399802597]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582591879046724,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2151.png","name":"2151"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2151.png","name":"2151"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1609.png","name":"1609"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9571.png","name":"9571"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8816.png","name":"8816"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3425.png","name":"3425"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":809.242706841641,"rotation_z_degrees":258.71224707715214,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005283052692788179,-0.011763733507371312,0.002771399571402551]},{"name":"camera_2","offset_m":[-0.007575675811437033,0.010831773264453275,0.000984707718430733]},{"name":"camera_3","offset_m":[0.0065433145660420515,-0.002836029532497727,-0.01769533056582322]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013507453439920792,0.00021325763594566387,0.001146491461191286],"end_effector_yaw_offset_degrees":-0.42887898537303726},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013930070854423497,0.0006831174659114206,-0.0007814087587317228],"end_effector_yaw_offset_degrees":-0.34372911829923525},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014954306586718404,0.0016416939768275074,-0.0019423367257321536],"end_effector_yaw_offset_degrees":0.6599984311645819}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027138612516098624,-0.0014643269731470432],"position_m":[0.19418613874839014,0.30623567302685295,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011537657383330303,0.0015511605241535845],"position_m":[0.24495376573833302,-0.3326488394758464,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003050925096231714,0.004102705161459614],"position_m":[0.2940509250962317,-0.07289729483854039,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00037606786228273296,0.0014984693053687534],"position_m":[0.3302239321377173,0.08239846930536876,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d2f69658a60fc86c25468efaf3b409265ad6fe8ca0be584f84dcb81cefd73bb","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2151/tex_ceiling_textures_3425/tex_floor_textures_8816/tex_table_textures_1609/tex_wall_textures_9571","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1164286136684224977,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1164286136684224977,"visual_seed":1164286136684224977,"scene_id":"lab_003","finished_at":"2026-09-04T08:36:12"}
+{"episode_id":"ep_000035","started_at":"2026-09-04T08:36:17","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.3630685098327886,-0.9983237595010488,0.71338606911949],"aabb_xy":[[0.3537215022504933,-1.0126273817186928],[0.3724155174150838,-0.9840201372834049]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[0.1220146511247292,-0.5700554087421401,0.71338606911949],"aabb_xy":[[0.08451465083255438,-0.5740968841427436],[0.15951465141690402,-0.5660139333415364]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[-0.5855536285903555,-0.039582763983239566,0.71338606911949],"aabb_xy":[[-0.618993803786375,-0.07302638981416963],[-0.5521134533943358,-0.006139138152309486]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.6607636799277569,-1.5832726469491374,0.71338606911949],"aabb_xy":[[-0.6721254145810429,-1.5946411133554252],[-0.6494019452744706,-1.571904180542849]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.072170842990391,-2.0627554529566727,0.71338606911949],"aabb_xy":[[0.0613303647638761,-2.0799417342473214],[0.08301132121690591,-2.045569171666024]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[0.23483683267903188,-1.9690984113903793,0.71338606911949],"aabb_xy":[[0.22567695373515528,-1.9756296294339164],[0.24399671162290848,-1.9625671933468423]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[-0.37054572668740565,-1.986877658345791,0.71338606911949],"aabb_xy":[[-0.4005373894212759,-2.016877657682591],[-0.34055406395353527,-1.9568776590089902]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.12284505198085227,-1.2913515129326052,0.71338606911949],"aabb_xy":[[0.11159999641023442,-1.3025933106567005],[0.1340901075514701,-1.28010971520851]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.537492738331368,-0.14585629462692262,0.71338606911949],"aabb_xy":[[-0.5499600964411037,-0.15832161926024613],[-0.5250253802216324,-0.13339096999359912]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[0.34454169534262347,1.6524178988300613,0.71338606911949],"aabb_xy":[[0.33020727021646,1.6403576832755222],[0.3588761204687869,1.6644781143846]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.14322435619620122,1.6766421616224148,0.71338606911949],"aabb_xy":[[0.12072435638229884,1.6721675452519345],[0.1657243560101036,1.681116777992896]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.44550046284134537,-1.3643015716832254,0.71338606911949],"aabb_xy":[[-0.4830004626583788,-1.3689397829943672],[-0.4080004630243117,-1.3596633603720836]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[-0.4682525217739869,0.547368982449322,0.71338606911949],"aabb_xy":[[-0.5322525203605593,0.5003620190498133],[-0.4042525231874144,0.5943759458488307]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[0.36834936751028313,-1.1344867805435224,0.71338606911949],"aabb_xy":[[0.3133538896896237,-1.1894867819774293],[0.42334484533094247,-1.0794867791096154]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.03449928272892133,1.2970825310849232,0.71338606911949],"aabb_xy":[[0.028404654840803012,1.2885131365332547],[0.04059391061703965,1.3056519256365922]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.1060569942427525,-1.4023679192014173,0.71338606911949],"aabb_xy":[[-0.15605699368294812,-1.4523358436857334],[-0.05605699480255688,-1.3523999947171008]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[0.46943130925235854,1.2407655836594804,0.71338606911949],"aabb_xy":[[0.43443131098223864,1.2336914559644923],[0.5044313075224784,1.2478397113544686]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[-0.0900166905735914,-2.4051636038584596,0.71338606911949],"aabb_xy":[[-0.09764095866376965,-2.412796827395004],[-0.08239242248341315,-2.3975303803219163]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.5661980582550794,-1.2685051519960457,0.71338606911949],"aabb_xy":[[0.5627573820150222,-1.2723665849704102],[0.5696387344951366,-1.2646437190216813]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[0.47978745980983795,-1.3835661762096538,0.71338606911949],"aabb_xy":[[0.43030703859587915,-1.4475661741225057],[0.5292678810237967,-1.319566178296802]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[0.5059789817664082,-1.9082127750224305,0.71338606911949],"aabb_xy":[[0.4559839708069563,-1.9582127740580222],[0.5559739927258603,-1.8582127759868388]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.1737421153110822,-0.5000879457701068,0.71338606911949],"aabb_xy":[[-0.23774211242318788,-0.5491203155645175],[-0.1097421181989765,-0.45105557597569623]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[-0.35074231680611767,-1.0596705272591176,0.71338606911949],"aabb_xy":[[-0.3882423183217494,-1.0708973002752626],[-0.31324231529048596,-1.0484437542429725]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.24992783530525825,-1.5963787555081033,0.71338606911949],"aabb_xy":[[-0.2843901827034,-1.6308726379059255],[-0.21546548790711642,-1.5618848731102801]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.05893107656718111,-1.1229628194903007,0.71338606911949],"aabb_xy":[[0.04304658330185596,-1.1373157597891248],[0.07481556983250626,-1.1086098791914767]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_25","position":[-0.01742779390799787,0.8627901024388351,0.71338606911949],"aabb_xy":[[-0.08142779416846867,0.8177813030859071],[0.04657220635247294,0.9077989017917631]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[-0.23740089501476125,1.6898797367283378,0.71338606911949],"aabb_xy":[[-0.2551944019496777,1.6720799911325401],[-0.2196073880798448,1.7076794823241355]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[0.19735796885445478,1.185372300339742,0.71338606911949],"aabb_xy":[[0.17985796972008758,1.175492673302154],[0.21485796798882192,1.1952519273773297]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_28","position":[0.5910619209762495,0.3454097832944938,0.71338606911949],"aabb_xy":[[0.5370463246943495,0.2814097804022366],[0.6450775172581495,0.4094097861867509]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_29","position":[-0.5325622381333093,-1.0941943905727227,0.71338606911949],"aabb_xy":[[-0.562529795043135,-1.1241943908706087],[-0.5025946812234837,-1.0641943902748372]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6596036877389834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8826.png","name":"8826"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8826.png","name":"8826"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2666.png","name":"2666"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2844.png","name":"2844"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6614.png","name":"6614"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6062.png","name":"6062"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":803.5256653037682,"rotation_z_degrees":131.83483994846208,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01994368739949897,0.017771820769087312,-0.004223837352391301]},{"name":"camera_2","offset_m":[-0.0024567265354213975,-0.01950386940081897,0.004700867384031429]},{"name":"camera_3","offset_m":[-0.000687295857345737,-0.0106860883191932,-0.005133346658729323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014081117334951597,0.0009780637876828481,-0.00024177020513079179],"end_effector_yaw_offset_degrees":0.027587089401041265},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015781929743118451,0.0019516163406924974,-0.0009361046372934698],"end_effector_yaw_offset_degrees":0.21349209714461526},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012793279391761438,0.001224071427724439,0.0010328239876761028],"end_effector_yaw_offset_degrees":-0.8865512188928757}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004251958203630999,0.003980115963237275],"position_m":[0.192648041796369,0.31168011596323725,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[2.212593692610485e-05,-0.003011134134935448],"position_m":[0.2438221259369261,-0.3372111341349354,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006910094842302403,-0.0017569085282231533],"position_m":[0.2916910094842302,-0.07875690852822315,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026738567869237064,0.003715314839610135],"position_m":[0.3279261432130763,0.08461531483961013,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3de2348978211c5efbc452f92eb7413dedee37832cdd201a8bff7edb6a73f2f9","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8826/tex_ceiling_textures_6062/tex_floor_textures_6614/tex_table_textures_2666/tex_wall_textures_2844","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5008991868945888469,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5008991868945888469,"visual_seed":5008991868945888469,"scene_id":"lab_003","finished_at":"2026-09-04T08:39:19"}
+{"episode_id":"ep_000036","started_at":"2026-09-04T08:39:23","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[-0.5650202728385277,-1.7488196713826938,0.71338606911949],"aabb_xy":[[-0.5821223507968959,-1.7659264769139638],[-0.5479181948801596,-1.7317128658514243]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[-0.20407722415845714,1.2035057621969907,0.71338606911949],"aabb_xy":[[-0.20751790039851434,1.1996443292226262],[-0.2006365479184,1.2073671951713552]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[-0.3186649011702998,0.6487909281875122,0.71338606911949],"aabb_xy":[[-0.3686599121297518,0.5987909291519206],[-0.26866989021084775,0.698790927223104]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.35673664033540103,0.9316446736574222,0.71338606911949],"aabb_xy":[[-0.3867041972452267,0.9016446733595366],[-0.32676908342557537,0.9616446739553081]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[0.3048842409343919,-1.0298368035223353,0.71338606911949],"aabb_xy":[[0.29955172627977894,-1.0351611317675709],[0.3102167555890049,-1.0245124752770998]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.4884500698722589,1.1461980166666752,0.71338606911949],"aabb_xy":[[-0.5384288783825748,1.0961980166609564],[-0.43847126136194303,1.196198016672394]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.1818714862114038,1.0336441740326725,0.71338606911949],"aabb_xy":[[-0.19065271335864012,1.0248644267441425],[-0.17309025906416764,1.042423921321203]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[-0.0532934640140561,-2.4485793097460204,0.71338606911949],"aabb_xy":[[-0.13329346727189906,-2.5285758175380044],[0.026706539243786853,-2.3685828019540365]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.3131464450178141,-2.446009084640177,0.71338606911949],"aabb_xy":[[0.24914644267501254,-2.4909499358843097],[0.37714644736061564,-2.4010682333960447]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[0.1499345592624015,-0.5984482601925705,0.71338606911949],"aabb_xy":[[0.13916158534103373,-0.6334482584116093],[0.1607075331837693,-0.5634482619735314]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[-0.11527220457985066,1.780983117227572,0.71338606911949],"aabb_xy":[[-0.13978582867685652,1.7567185239255354],[-0.09075858048284481,1.8052477105296083]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[0.6239608408743182,-0.33229059177299414,0.71338606911949],"aabb_xy":[[0.5639608403664652,-0.3891373254589154],[0.6839608413821711,-0.2754438580870728]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.4362743711663703,-1.4502617277906344,0.71338606911949],"aabb_xy":[[-0.47004993035706333,-1.4643002230037996],[-0.4024988119756774,-1.4362232325774693]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.3556640028029372,-2.2442431103329166,0.71338606911949],"aabb_xy":[[0.29066400276863447,-2.290943787013244],[0.4206640028372399,-2.1975424336525893]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.5112315280652275,0.28951476954090927,0.71338606911949],"aabb_xy":[[-0.5912315294953547,0.2099976145282998],[-0.43123152663510034,0.36903192455351874]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.5493784287249184,-2.5716469222313045,0.71338606911949],"aabb_xy":[[0.46937842765179805,-2.581424968568689],[0.6293784297980387,-2.56186887589392]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.07023509319085186,0.8838566207528764,0.71338606911949],"aabb_xy":[[-0.08778178810697079,0.8463566191886251],[-0.05268839827473293,0.9213566223171277]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[0.08942499677164828,-0.752986581110137,0.71338606911949],"aabb_xy":[[0.04414638189049902,-0.8169865804583207],[0.13470361165279754,-0.6889865817619534]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.1567749892609578,-2.033086188685358,0.71338606911949],"aabb_xy":[[0.107294568046999,-2.09708618659821],[0.20625541047491658,-1.9690861907725061]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[0.0012616674828392904,-1.7815990815995173,0.71338606911949],"aabb_xy":[[-0.006661612755909041,-1.8040990818375207],[0.009184947721587622,-1.759099081361514]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[0.5923959711119196,-0.1541058251280436,0.71338606911949],"aabb_xy":[[0.5424028590027277,-0.2041058258022393],[0.6423890832211114,-0.104105824453848]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.030394493964143177,1.5334460093505675,0.71338606911949],"aabb_xy":[[-0.03843082866542802,1.5254078900461507],[-0.02235815926285833,1.5414841286549843]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[0.3085141379897296,1.5754103681981655,0.71338606911949],"aabb_xy":[[0.2445141359399976,1.5353158851088573],[0.3725141400394616,1.6155048512874732]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[0.6703115228670724,0.17345059867587853,0.71338606911949],"aabb_xy":[[0.6450906860072325,0.14822684782299175],[0.6955323597269119,0.19867434952876525]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[-0.22597855663848404,0.13363639140878458,0.71338606911949],"aabb_xy":[[-0.2959785582407636,0.120203598207127],[-0.15597855503620459,0.14706918461044216]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[-0.26107385509078457,1.7392442283572689,0.71338606911949],"aabb_xy":[[-0.3410738520538237,1.6621685867134954],[-0.18107385812774535,1.8163198700010423]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_26","position":[-0.43468774752458067,-0.6124126894403172,0.71338606911949],"aabb_xy":[[-0.48466081305709613,-0.6624126892528502],[-0.3847146819920652,-0.5624126896277845]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_27","position":[0.19552484850741247,-1.315218927057395,0.71338606911949],"aabb_xy":[[0.19161097531198995,-1.3239679424639519],[0.199438721702835,-1.3064699116508383]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[-0.4809515707277595,-0.4934961831490714,0.71338606911949],"aabb_xy":[[-0.5609515693846455,-0.5080010420733342],[-0.4009515720708735,-0.4789913242248086]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_29","position":[0.16477727028079414,0.8947702004868927,0.71338606911949],"aabb_xy":[[0.15154632474611282,0.8815427814648931],[0.1780082158154754,0.9079976195088919]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_30","position":[0.5521816495437215,1.1892615217348874,0.71338606911949],"aabb_xy":[[0.5449378834974762,1.109261523531285],[0.5594254155899668,1.2692615199384898]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6546023466542581,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7792.png","name":"7792"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7792.png","name":"7792"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4290.png","name":"4290"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4973.png","name":"4973"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6361.png","name":"6361"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4911.png","name":"4911"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":612.93602693711,"rotation_z_degrees":233.22133470761787,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00723748679470693,0.011871183839012447,0.014525653050677084]},{"name":"camera_2","offset_m":[-0.01410779403283461,0.015216305672691322,-0.0014485682139676742]},{"name":"camera_3","offset_m":[0.014162418821830215,-0.013277810930096091,-0.011607439483591154]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009121395414732158,0.0006916412979262056,0.001494296206658413],"end_effector_yaw_offset_degrees":0.9926317124465158},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001219883245977228,7.090507397128788e-05,-0.0004278153067223381],"end_effector_yaw_offset_degrees":-0.03859751552024382},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005300793664969783,-0.0005663931458010092,0.0003141755044600079],"end_effector_yaw_offset_degrees":0.6770916543843477}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004247011428970218,-0.003565504343574272],"position_m":[0.19265298857102978,0.3041344956564257,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029803857070101482,0.0017337872735022916],"position_m":[0.24081961429298984,-0.3324662127264977,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032539780746156633,-0.000651997736112124],"position_m":[0.28774602192538434,-0.07765199773611212,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011985418403461815,0.002990504118148776],"position_m":[0.3317985418403462,0.08389050411814877,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7f32a8a98ec36bd5a38ab7a81f6148200a3f90bdd1fac68b5f9dc0f12a32cdcd","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0036.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7792/tex_ceiling_textures_4911/tex_floor_textures_6361/tex_table_textures_4290/tex_wall_textures_4973","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1785167910645729199,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1785167910645729199,"visual_seed":1785167910645729199,"scene_id":"lab_003","finished_at":"2026-09-04T08:42:19"}
+{"episode_id":"ep_000037","started_at":"2026-09-04T08:42:23","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.28573139139534914,1.1336403231246344,0.71338606911949],"aabb_xy":[[-0.3032313248293325,1.1161403232043996],[-0.26823145796136577,1.1511403230448687]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[-0.37728194387404723,-1.1318907747400222,0.71338606911949],"aabb_xy":[[-0.4412819462168488,-1.1768316259841545],[-0.31328194153124567,-1.0869499234958895]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.266868307240888,-0.454277103845353,0.71338606911949],"aabb_xy":[[-0.3018683055110079,-0.4613512315403412],[-0.2318683089707681,-0.44720297615036486]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[-0.05196887523511162,-1.4002099641730819,0.71338606911949],"aabb_xy":[[-0.060012235161066796,-1.4852099652684483],[-0.04392551530915645,-1.3152099630777154]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[0.41175039207012554,-1.3562015653342445,0.71338606911949],"aabb_xy":[[0.4071152769178921,-1.3600689004113928],[0.41638550722235884,-1.3523342302570958]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[0.5300700645925753,-1.5496443725081934,0.71338606911949],"aabb_xy":[[0.5055564404955695,-1.5739089658102299],[0.5545836886895812,-1.525379779206157]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[0.45133499597741555,-2.40833266618975,0.71338606911949],"aabb_xy":[[0.43818375000612625,-2.433332665946437],[0.46448624194870497,-2.383332666433064]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[0.5750235687318797,0.21263538408792382,0.71338606911949],"aabb_xy":[[0.5337747577019648,0.15763538457570633],[0.6162723797617943,0.2676353836001412]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[0.243459958264583,-1.5543774132938046,0.71338606911949],"aabb_xy":[[0.15345996152897276,-1.607560876611099],[0.3334599550001932,-1.50119394997651]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[0.6450776571746804,-1.3565120433817508,0.71338606911949],"aabb_xy":[[0.5810776585881078,-1.4035190067812595],[0.7090776557612527,-1.309505079982242]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[-0.4705046562152139,1.4038657433567021,0.71338606911949],"aabb_xy":[[-0.5009889063422441,1.3538657435752062],[-0.4400204060881837,1.453865743138198]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[-0.640982161899951,1.2998964404185265,0.71338606911949],"aabb_xy":[[-0.6744223370959705,1.2664528145875962],[-0.6075419867039313,1.3333400662494563]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[0.5392775055713022,-0.45859794260581044,0.71338606911949],"aabb_xy":[[0.5042775064413465,-0.4643431636814746],[0.5742775047012578,-0.4528527215301464]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.2789741891112245,1.7457340617932933,0.71338606911949],"aabb_xy":[[-0.2945299585214898,1.7301836285488865],[-0.26341841970095925,1.761284495037701]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.5755410978427804,0.7035649712344703,0.71338606911949],"aabb_xy":[[-0.6093166570334733,0.6895264760213051],[-0.5417655386520873,0.7176034664476352]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[0.3261732342476713,0.649194064656212,0.71338606911949],"aabb_xy":[[0.29620567733784564,0.6191940643583262],[0.35614079115749697,0.6791940649540977]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[-0.5323699905359152,-1.7305787403344688,0.71338606911949],"aabb_xy":[[-0.602369993927477,-1.7658945140378994],[-0.4623699871443531,-1.6952629666310377]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.006799295763553426,1.3532107964079851,0.71338606911949],"aabb_xy":[[-0.07079929287565911,1.3041784266135745],[0.05720070134855226,1.4022431662023958]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[0.5695137961606469,0.774164962090226,0.71338606911949],"aabb_xy":[[0.5055137958866687,0.7240988618929382],[0.6335137964346251,0.8242310622875141]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.13491833985678725,-2.2931287843763646,0.71338606911949],"aabb_xy":[[-0.14088487879752304,-2.2990899290357283],[-0.12895180091605146,-2.287167639717]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[-0.5221474892163882,-0.6119317200887471,0.71338606911949],"aabb_xy":[[-0.5606931820415891,-0.6504774911449357],[-0.48360179639118706,-0.5733859490325585]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[-0.3779430525926256,0.6974844822844637,0.71338606911949],"aabb_xy":[[-0.3860567072660027,0.6893786658304346],[-0.3698293979192485,0.7055902987384928]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[-0.46333284732932134,1.7076805263227999,0.71338606911949],"aabb_xy":[[-0.4944797661729044,1.6376805276359925],[-0.43218592848573817,1.7776805250096068]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[0.3034628721445175,-1.805223172929237,0.71338606911949],"aabb_xy":[[0.29330985659036807,-1.8412927145019768],[0.31361588769866683,-1.7691536313564962]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[0.6799504160173175,0.5956102539288666,0.71338606911949],"aabb_xy":[[0.6454880686191756,0.5611163715310437],[0.7144127634154592,0.630104136326689]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[-0.5603311083517332,-1.9084541323168929,0.71338606911949],"aabb_xy":[[-0.5722031913632342,-1.9934541320105437],[-0.5484590253402319,-1.823454132623243]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_26","position":[-0.3701505426622536,0.220210591635416,0.71338606911949],"aabb_xy":[[-0.45387276816233607,0.13021058810072006],[-0.28642831716217115,0.31021059517011196]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[-0.6008228223064506,-1.3787678034536515,0.71338606911949],"aabb_xy":[[-0.6095207845971659,-1.3908927777611262],[-0.5921248600157353,-1.3666428291461767]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_28","position":[0.33141014364292065,-2.109344471809311,0.71338606911949],"aabb_xy":[[0.2664101457612729,-2.1604681355158526],[0.39641014152456855,-2.058220808102771]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[0.1766001134403994,-0.9583644075271058,0.71338606911949],"aabb_xy":[[0.17315943720034224,-0.9622258405014704],[0.1800407896804566,-0.9545029745527415]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6586251175720294,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/690.png","name":"690"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/690.png","name":"690"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4818.png","name":"4818"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7800.png","name":"7800"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6957.png","name":"6957"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8168.png","name":"8168"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":819.1368745878035,"rotation_z_degrees":94.90517894054587,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011531473020799723,0.005820215101294955,0.01779417941146162]},{"name":"camera_2","offset_m":[0.016173865769052,0.0031835019610957638,0.010727025800930962]},{"name":"camera_3","offset_m":[-0.01388391798669336,-0.0062664153179957886,0.015334835170724846]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017484805168565634,0.00024173572912876288,0.0009776294156744179],"end_effector_yaw_offset_degrees":-0.07947203534990499},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010570306803224347,-0.0011211798138607185,0.0015246105787559932],"end_effector_yaw_offset_degrees":0.9380133863020421},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013554034582462426,0.0010580368330674662,0.000987380005288899],"end_effector_yaw_offset_degrees":0.41692343608382787}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005267348746508683,-7.282771836045893e-05],"position_m":[0.1963732651253491,0.3076271722816395,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004365705045047642,-0.0018673069481256245],"position_m":[0.24336342949549522,-0.33606730694812564,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015657381233894728,-0.001101214097188732],"position_m":[0.29256573812338943,-0.07810121409718873,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004115681208407238,0.003910768001984681],"position_m":[0.3264843187915928,0.08481076800198468,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"133d42a283653f1d48618eb1c158b5d7f91aa23a640abff669f033f8835b8cfc","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_690/tex_ceiling_textures_8168/tex_floor_textures_6957/tex_table_textures_4818/tex_wall_textures_7800","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3959241062681099747,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3959241062681099747,"visual_seed":3959241062681099747,"scene_id":"lab_003","finished_at":"2026-09-04T08:45:23"}
+{"episode_id":"ep_000038","started_at":"2026-09-04T08:45:26","dimensions":{"distractor":{"count":24,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.20246291449777643,-0.8199193280702213,0.71338606911949],"aabb_xy":[[0.11246291082085824,-0.8813517346473254],[0.2924629181746946,-0.7584869214931167]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[-0.5405016361784201,-0.7153340896263436,0.71338606911949],"aabb_xy":[[-0.5501332723988497,-0.7249714024060524],[-0.5308699999579904,-0.7056967768466346]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.19333674481033192,0.5575637526836847,0.71338606911949],"aabb_xy":[[-0.25833674484463465,0.5108630760033575],[-0.1283367447760292,0.604264429364012]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.13975497740190512,-2.397579217324844,0.71338606911949],"aabb_xy":[[0.06975497527047556,-2.4203411829505392],[0.20975497953333463,-2.3748172516991475]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[-0.6148594558263787,-0.5454657051895371,0.71338606911949],"aabb_xy":[[-0.6798594584641722,-0.596945303888984],[-0.5498594531885852,-0.4939861064900901]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[-0.10455787814001305,1.6120564336219423,0.71338606911949],"aabb_xy":[[-0.1745578807765994,1.5919515686260766],[-0.03455787550342669,1.6321612986178076]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[0.5924812004683835,-1.9722211349619394,0.71338606911949],"aabb_xy":[[0.5274812019113106,-2.001973668375822],[0.6574811990254563,-1.9424686015480568]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.60400443658107,-1.568874703018548,0.71338606911949],"aabb_xy":[[-0.6839982601596282,-1.6488747056113897],[-0.5240106130025117,-1.4888747004257066]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[0.5592680674334432,-0.48003941805208816,0.71338606911949],"aabb_xy":[[0.5041428618038523,-0.5400394194933752],[0.6143932730630338,-0.42003941661080096]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.25941817009119705,0.918162924379935,0.71338606911949],"aabb_xy":[[0.25528231375849686,0.880662924935578],[0.26355402642389725,0.955662923824292]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[0.570739806866299,0.2714692317144469,0.71338606911949],"aabb_xy":[[0.5537297095762483,0.25533474321617294],[0.5877499041563496,0.2876037202127208]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.5148551178362917,-2.2509133267083166,0.71338606911949],"aabb_xy":[[0.5055081102539964,-2.2652169489259606],[0.5242021254185869,-2.2366097044906725]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[-0.5425824451625915,1.4574014925598155,0.71338606911949],"aabb_xy":[[-0.5647549721392423,1.4352258254036923],[-0.5204099181859406,1.4795771597159384]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.2285511722491056,1.5066630371720513,0.71338606911949],"aabb_xy":[[0.19815306114996198,1.4762561351703813],[0.2589492833482491,1.5370699391737204]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[0.06429531923889498,-1.061050913170493,0.71338606911949],"aabb_xy":[[0.014300486310953375,-1.1110509120657366],[0.11429015216683658,-1.0110509142752495]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[-0.4685596627009917,0.9535610829474876,0.71338606911949],"aabb_xy":[[-0.5060596633655703,0.9378740249472654],[-0.43105966203641294,0.9692481409477097]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.607174328579422,-0.3215337787840684,0.71338606911949],"aabb_xy":[[-0.6371659913132923,-0.35153377812086894],[-0.5771826658455517,-0.2915337794472679]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[-0.5575276430970406,1.2497661004823786,0.71338606911949],"aabb_xy":[[-0.6215276463867487,1.2064311814784607],[-0.49352763980733255,1.293101019486296]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[0.15552812230210944,-1.2125463815390245,0.71338606911949],"aabb_xy":[[0.13098190667935872,-1.2427952780880613],[0.18007433792486016,-1.1822974849899872]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[-0.10880499272750999,-1.9234189308193193,0.71338606911949],"aabb_xy":[[-0.18880498974175797,-1.9435534824927305],[-0.02880499571326199,-1.903284379145908]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[0.5335359149661549,0.07336683067240246,0.71338606911949],"aabb_xy":[[0.4837191355013202,0.02336683218809911],[0.5833526944309897,0.12336682915670584]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[-0.6512683438405492,-2.137503886106839,0.71338606911949],"aabb_xy":[[-0.6858594266945943,-2.2025038863918702],[-0.6166772609865039,-2.072503885821808]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.3933470897927881,-1.4042230569434164,0.71338606911949],"aabb_xy":[[-0.4112161975472436,-1.418055964920627],[-0.3754779820383326,-1.3903901489662054]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.06686711232922948,0.3423049579990147,0.71338606911949],"aabb_xy":[[-0.12186711053097432,0.3017829913725771],[-0.011867114127484658,0.38282692462545226]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.656886322759806,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3383.png","name":"3383"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3383.png","name":"3383"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3066.png","name":"3066"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1289.png","name":"1289"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4850.png","name":"4850"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4548.png","name":"4548"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":824.4454147408305,"rotation_z_degrees":317.53141020533104,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0038619970143917125,-0.014057702087884812,0.0185554253493625]},{"name":"camera_2","offset_m":[-0.009852090714674912,0.0004333095102988689,0.004283239124589083]},{"name":"camera_3","offset_m":[0.002532124896929222,-3.267007924033158e-05,0.013851665922641209]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005872833606403876,0.0009132361959859189,0.0005701552614028114],"end_effector_yaw_offset_degrees":0.4771572497875407},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018317201283764377,0.0009205095368725598,-0.0015383577450562998],"end_effector_yaw_offset_degrees":-0.25064612712035106},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001261357421497958,-0.0012849524761667642,-0.0014525701276940691],"end_effector_yaw_offset_degrees":-0.22960297276104025}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004150445394150306,0.003557165061348326],"position_m":[0.2010504453941503,0.3112571650613483,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009681305678920504,0.003956719327228855],"position_m":[0.24476813056789204,-0.33024328067277114,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004422020631933025,0.004223083797527265],"position_m":[0.295422020631933,-0.07277691620247273,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015003033254191254,-0.002298781630405572],"position_m":[0.3321003033254191,0.07860121836959442,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b9091d872895b5458f0858b0cf720b001fa2c4f768f489f78923291dfc8514d","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0038.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3383/tex_ceiling_textures_4548/tex_floor_textures_4850/tex_table_textures_3066/tex_wall_textures_1289","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6488455759541393909,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6488455759541393909,"visual_seed":6488455759541393909,"scene_id":"lab_003","finished_at":"2026-09-04T08:48:26"}
+{"episode_id":"ep_000039","started_at":"2026-09-04T08:48:30","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[0.4044803155444723,-1.9688542114920555,0.71338606911949],"aabb_xy":[[0.33448031373572684,-1.9902079802562431],[0.4744803173532177,-1.9475004427278684]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[0.05153611016492177,-1.6689065274178723,0.71338606911949],"aabb_xy":[[0.04745795225787203,-1.6729875076661356],[0.05561426807197151,-1.664825547169609]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[-0.5138647966053868,-1.9702891492731291,0.71338606911949],"aabb_xy":[[-0.518820816790268,-1.9927891494752512],[-0.5089087764205057,-1.947789149071008]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.4883665991492687,-0.696780364275408,0.71338606911949],"aabb_xy":[[-0.508257639029609,-0.709436175560105],[-0.46847555926892853,-0.6841245529907113]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.41077018847627933,0.47289597425270546,0.71338606911949],"aabb_xy":[[0.3999297102497644,0.45570969296205655],[0.42161066670279423,0.49008225554335416]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[0.20066378571104215,-1.555309134374997,0.71338606911949],"aabb_xy":[[0.15935924264730614,-1.6193091339431138],[0.2419683287747781,-1.4913091348068797]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.5996070107918807,1.0567718107480708,0.71338606911949],"aabb_xy":[[0.5296070086604511,1.034009845122375],[0.6696070129233102,1.0795337763737662]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[-0.5708419651110946,0.3309139065453537,0.71338606911949],"aabb_xy":[[-0.6358419636681675,0.301161373131471],[-0.5058419665540218,0.36066643995923625]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[0.2191189465310932,1.2785126758415704,0.71338606911949],"aabb_xy":[[0.18563977927005226,1.2450335624704634],[0.25259811379213415,1.3119917892126773]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[0.1727055003742477,-1.8524442372578696,0.71338606911949],"aabb_xy":[[0.11773177833791482,-1.9074442368221027],[0.22767922241058058,-1.7974442376936364]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[-0.01569178057244225,-0.8789641847192002,0.71338606911949],"aabb_xy":[[-0.033897604233689926,-0.889989585301192],[0.0025140430888054253,-0.8679387841372087]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[-0.00936042627282252,1.3119848317726,0.71338606911949],"aabb_xy":[[-0.034360425824561,1.3018423479074654],[0.015639573278915964,1.322127315637735]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.1385501534653536,-1.8014175862037574,0.71338606911949],"aabb_xy":[[-0.14896171214583728,-1.8067633195396557],[-0.12813859478486986,-1.796071852867859]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.6296075056429875,-1.9356051285994453,0.71338606911949],"aabb_xy":[[-0.6377211603163645,-1.9437109450534744],[-0.6214938509696103,-1.9274993121454163]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[0.5258342723554115,-2.35113189861772,0.71338606911949],"aabb_xy":[[0.4883342716908326,-2.3668189566179416],[0.56333427301999,-2.3354448406174972]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.37144215174861067,-1.3119782733821752,0.71338606911949],"aabb_xy":[[-0.4064421500593061,-1.3196932883057209],[-0.3364421534379152,-1.3042632584586296]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[0.43379849121709224,-1.2245712953905015,0.71338606911949],"aabb_xy":[[0.3962984910452203,-1.2572720307734084],[0.4712984913889642,-1.191870560007594]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.3891925393350063,-2.115040067371325,0.71338606911949],"aabb_xy":[[-0.39289580066414515,-2.1187420856800423],[-0.38548927800586735,-2.111338049062607]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.4575812210074207,-2.4854600291432183,0.71338606911949],"aabb_xy":[[-0.5375812196643066,-2.499964888067481],[-0.37758122235053465,-2.4709551702189554]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[-0.036740778228319115,-1.3089142568728376,0.71338606911949],"aabb_xy":[[-0.04934347736539558,-1.3215096530977033],[-0.024138079091242666,-1.2963188606479723]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.1613164129813467,-1.9294593156159254,0.71338606911949],"aabb_xy":[[-0.22531640940866862,-1.9766289394380219],[-0.09731641655402481,-1.882289691793829]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.4173972070745784,0.6060004480346852,0.71338606911949],"aabb_xy":[[0.353397209772232,0.5616340210668284],[0.4813972043769248,0.6503668750025419]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[-0.5110145909848297,1.7979109192475247,0.71338606911949],"aabb_xy":[[-0.5286474265783572,1.7802879732319015],[-0.4933817553913021,1.8155338652631474]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.649597177222456,-0.8521207148802437,0.71338606911949],"aabb_xy":[[0.6266814643374061,-0.8750250120166674],[0.6725128901075059,-0.8292164177438204]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[0.4664803768441883,-0.9512761041957303,0.71338606911949],"aabb_xy":[[0.3864803788634033,-0.9588776451575821],[0.5464803748249734,-0.9436745632338782]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_25","position":[0.2563508109849356,-1.9663486802509196,0.71338606911949],"aabb_xy":[[0.2431198654502542,-1.9795760992729188],[0.2695817565196168,-1.95312126122892]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.6651127467227685,-1.510232156417007,0.71338606911949],"aabb_xy":[[-0.6827883773113668,-1.5279123726964097],[-0.6474371161341701,-1.4925519401376042]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[-0.5836137698313114,-1.6822524595027666,0.71338606911949],"aabb_xy":[[-0.6114588066119186,-1.7130369582410783],[-0.5557687330507044,-1.651467960764455]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_28","position":[0.40511655186585105,1.3458503979299632,0.71338606911949],"aabb_xy":[[0.3251165544622576,1.2658578267317802],[0.4851165492694445,1.4258429691281458]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_29","position":[0.6425521609595226,-1.9941093636562912,0.71338606911949],"aabb_xy":[[0.5625521598864024,-2.0038874099936757],[0.722552162032643,-1.9843313173189068]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_30","position":[-0.06976866059003917,-1.1957623700681945,0.71338606911949],"aabb_xy":[[-0.10726866069563212,-1.2025845319211754],[-0.03226866048444622,-1.1889402082152132]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_31","position":[-0.33192360649238867,-1.0673351955232588,0.71338606911949],"aabb_xy":[[-0.40192360809466815,-1.0807679887249164],[-0.2619236048901092,-1.0539024023216013]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6573153283798853,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8415.png","name":"8415"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8415.png","name":"8415"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/669.png","name":"669"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8860.png","name":"8860"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6085.png","name":"6085"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1354.png","name":"1354"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":716.9011280119738,"rotation_z_degrees":205.56697029028766,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002828729997480295,-0.0053210517616303615,-0.00347127777588661]},{"name":"camera_2","offset_m":[-0.016315577018110358,-0.000887837231177472,-0.01990010852253378]},{"name":"camera_3","offset_m":[-0.011677172344623937,-0.009926797795248157,-0.01977058359843347]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005436255278563297,0.0012833926974394,0.0019153838300969986],"end_effector_yaw_offset_degrees":0.991036865345289},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014947562730951885,0.0009280020732907635,-0.00024954329319338826],"end_effector_yaw_offset_degrees":0.47813092475235863},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011009159411434406,0.0008515581015438212,-0.001754301063734871],"end_effector_yaw_offset_degrees":-0.46907922203604135}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0034379135145522826,0.00012332884227815415],"position_m":[0.20033791351455227,0.30782332884227814,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-4.5823665635148086e-05,0.0013714129737696368],"position_m":[0.24375417633436483,-0.33282858702623036,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027366938730608937,0.0031518776040513194],"position_m":[0.28826330612693907,-0.07384812239594868,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035021202426021914,-0.0031237245804521707],"position_m":[0.3270978797573978,0.07777627541954783,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cc696dec0394f045c649f4cdb831e80e520b8ce9b61211229b974467f02f6105","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8415/tex_ceiling_textures_1354/tex_floor_textures_6085/tex_table_textures_669/tex_wall_textures_8860","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6245084956111320648,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6245084956111320648,"visual_seed":6245084956111320648,"scene_id":"lab_003","finished_at":"2026-09-04T08:51:33"}
+{"episode_id":"ep_000040","started_at":"2026-09-04T08:51:36","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.4666979161698743,-2.3205619706494867,0.71338606911949],"aabb_xy":[[-0.4748115708432515,-2.328667787103516],[-0.4585842614964973,-2.3124561541954574]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.5538075973485377,0.7799983309484264,0.71338606911949],"aabb_xy":[[0.48980759512813055,0.7356252468231381],[0.6178075995689446,0.8243714150737147]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.13090497163589032,0.2722245165694481,0.71338606911949],"aabb_xy":[[-0.13731878527907523,0.26581469632177973],[-0.12449115799270537,0.2786343368171164]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.34644211563274824,-1.4130438847338782,0.71338606911949],"aabb_xy":[[-0.37144211490471046,-1.4293892483300406],[-0.3214421163607859,-1.3966985211377159]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_4","position":[0.03239256662100398,0.7235628449951483,0.71338606911949],"aabb_xy":[[-0.009791847539826759,0.6595628447179371],[0.07457698078183472,0.7875628452723595]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[-0.24003904616908062,1.5043807521251114,0.71338606911949],"aabb_xy":[[-0.2645852617918313,1.474131855576074],[-0.2154928305463299,1.5346296486741482]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.14979062049606573,1.7831127489026257,0.71338606911949],"aabb_xy":[[-0.17843995285648193,1.7544671896255495],[-0.12114128813564948,1.811758308179701]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[0.4503238860326255,-0.27407224447555745,0.71338606911949],"aabb_xy":[[0.400350592029365,-0.3240722450301048],[0.500297180035886,-0.2240722439210101]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[0.36553726540154585,-1.4454371843534066,0.71338606911949],"aabb_xy":[[0.3614014090688457,-1.482937183797764],[0.3696731217342461,-1.40793718490905]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.48811098759869853,0.20082712081522125,0.71338606911949],"aabb_xy":[[-0.5431064654193578,0.1458271193813143],[-0.4331155097780391,0.2558271222491282]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.3521714925945125,0.4808129262822214,0.71338606911949],"aabb_xy":[[0.334740777515506,0.46354081161837046],[0.36960220767351903,0.4980850409460721]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[-0.37313761178483573,-2.0970781156207234,0.71338606911949],"aabb_xy":[[-0.45313761037215516,-2.176393717558884],[-0.2931376131975163,-2.017762513682562]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.16494796253868527,-1.534154310431505,0.71338606911949],"aabb_xy":[[-0.22494796313470145,-1.5889667829767284],[-0.10494796194266909,-1.4793418378862815]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.438308245261537,1.609573316215546,0.71338606911949],"aabb_xy":[[0.40330824699141704,1.6024991885205577],[0.47330824353165685,1.616647443910534]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.5503444661695289,0.320865911971306,0.71338606911949],"aabb_xy":[[-0.5681379731044454,0.3030661663755083],[-0.5325509592346125,0.33866565756710365]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[0.6967648330573839,1.3212022181692156,0.71338606911949],"aabb_xy":[[0.6742511412339267,1.251202217568208],[0.7192785248808411,1.391202218770223]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[0.1457260540827937,-1.5700889667868556,0.71338606911949],"aabb_xy":[[0.11739634413425348,-1.5745497089805727],[0.17405576403133394,-1.5656282245931386]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.585725049183996,0.9305353164571688,0.71338606911949],"aabb_xy":[[0.4957250526831242,0.8846236740387103],[0.6757250456848677,0.9764469588756268]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.5651295489287729,-1.8977709388131379,0.71338606911949],"aabb_xy":[[-0.6451295503589001,-1.9772880938257473],[-0.4851295474986457,-1.8182537838005284]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.27156462899574296,0.7127652001773526,0.71338606911949],"aabb_xy":[[-0.2867275019726801,0.6975997428822337],[-0.25640175601880594,0.7279306574724712]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.15729669181511685,0.9893413239761366,0.71338606911949],"aabb_xy":[[0.09329669452946818,0.9478346050232928],[0.22129668910076547,1.0308480429289806]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.655530152460492,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4293.png","name":"4293"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4293.png","name":"4293"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9986.png","name":"9986"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8705.png","name":"8705"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9350.png","name":"9350"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1045.png","name":"1045"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":639.1504312286472,"rotation_z_degrees":327.3112912994917,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00610536151635427,-0.0038982191201700662,-0.01672935777355638]},{"name":"camera_2","offset_m":[0.008346890951759323,0.001836839763447621,0.011784684804879385]},{"name":"camera_3","offset_m":[0.0054697260061120495,-0.011003071731805791,-0.009193823002193095]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005639877921255012,0.00045693235601301525,0.001464271458616941],"end_effector_yaw_offset_degrees":0.46246552966057064},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016342004450739123,0.0007444960708287264,-0.000466126612170323],"end_effector_yaw_offset_degrees":-0.46016059935818565},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004231461125397398,-0.00022706688976985214,-0.0006583019886062611],"end_effector_yaw_offset_degrees":-0.005651687142551376}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026732870581333383,-0.0027110779060328205],"position_m":[0.19957328705813332,0.30498892209396716,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002397266324885475,0.0008963028154551581],"position_m":[0.2414027336751145,-0.33330369718454483,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032833418407962724,-0.004742708440649205],"position_m":[0.29428334184079624,-0.08174270844064921,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010135632929797987,-0.0027775124081203997],"position_m":[0.3316135632929798,0.0781224875918796,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"43921161ba41f3a7da5de9ff35ffb52c7af71da9e276b6f2f6b205f98f5cec1f","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4293/tex_ceiling_textures_1045/tex_floor_textures_9350/tex_table_textures_9986/tex_wall_textures_8705","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5534995629927201856,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5534995629927201856,"visual_seed":5534995629927201856,"scene_id":"lab_003","finished_at":"2026-09-04T08:54:35"}
+{"episode_id":"ep_000041","started_at":"2026-09-04T08:54:40","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[-0.05163997397743114,0.8474453676963734,0.71338606911949],"aabb_xy":[[-0.05985451909311512,0.8387687773987319],[-0.04342542886174716,0.8561219579940146]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[0.07359877967491535,-2.434004356437726,0.71338606911949],"aabb_xy":[[0.06946292334221515,-2.4715043558820833],[0.07773463600761554,-2.3965043569933693]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.1407296756199211,-1.9201539889998473,0.71338606911949],"aabb_xy":[[0.07672967922434804,-1.984117277418581],[0.2047296720154942,-1.8561907005811138]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[-0.46103766295341475,-0.07270406448135791,0.71338606911949],"aabb_xy":[[-0.5250376621231847,-0.11947075160032039],[-0.39703766378364486,-0.02593737736239544]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[0.432927280204509,1.0521274499053375,0.71338606911949],"aabb_xy":[[0.36892728291886034,1.0106207309524937],[0.49692727749015764,1.0936341688581817]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[0.519060409121104,-2.503925357591366,0.71338606911949],"aabb_xy":[[0.46504481283920396,-2.567925360483623],[0.573076005403004,-2.439925354699109]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[0.28266034315110566,-2.4955050995193133,0.71338606911949],"aabb_xy":[[0.23553096414926988,-2.559505100563715],[0.3297897221529412,-2.431505098474911]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[-0.5519892416637615,-0.8273013668718876,0.71338606911949],"aabb_xy":[[-0.5718802815441019,-0.8399571781565845],[-0.5320982017834214,-0.8146455555871909]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.0922492978561198,0.5451476031762588,0.71338606911949],"aabb_xy":[[-0.15224929770268658,0.4883289809832201],[-0.03224929800955302,0.6019662253692974]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[0.5474475734035431,0.7171751626534544,0.71338606911949],"aabb_xy":[[0.46744757644050394,0.6400995210096809],[0.6274475703665823,0.7942508042972278]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[-0.12648822207754984,-2.490603640316393,0.71338606911949],"aabb_xy":[[-0.13518618436826513,-2.5027286146238676],[-0.11779025978683455,-2.478478666008918]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[0.601041711169545,-0.21882911892258283,0.71338606911949],"aabb_xy":[[0.5510417098086577,-0.26880702349799845],[0.6510417125304322,-0.1688512143471672]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[-0.3882499235584835,-2.4252382513676465,0.71338606911949],"aabb_xy":[[-0.41074905928471045,-2.4477382521459097],[-0.3657507878322565,-2.4027382505893833]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[-0.2802152606777148,-1.181626712276012,0.71338606911949],"aabb_xy":[[-0.33521073849837413,-1.236626713709919],[-0.22521978285705535,-1.126626710842105]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.21263859836057875,1.0731097838878934,0.71338606911949],"aabb_xy":[[0.19476949060612328,1.0592768759106823],[0.23050770611503427,1.0869426918651044]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[-0.1511288684478408,0.30840018408731895,0.71338606911949],"aabb_xy":[[-0.17564249254484665,0.28413559078528244],[-0.12661524435083493,0.33266477738935535]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[0.18015474240772666,1.6218023841602878,0.71338606911949],"aabb_xy":[[0.17481716674172212,1.596802383231148],[0.18549231807373126,1.6468023850894276]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[-0.3783570974222483,0.8454678817928465,0.71338606911949],"aabb_xy":[[-0.38227097061767085,0.8367188663862897],[-0.3744432242268258,0.8542168971994033]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.32222736227593063,-1.5511907705085468,0.71338606911949],"aabb_xy":[[0.2847273637003098,-1.5639270661721045],[0.35972736085155144,-1.5384544748449887]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.07581745219941205,1.2584113592284454,0.71338606911949],"aabb_xy":[[-0.09331745133377921,1.2485317321908573],[-0.05831745306504487,1.268290986266033]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[0.31207836387499954,-1.755090344395533,0.71338606911949],"aabb_xy":[[0.2625979426610407,-1.8190903423083848],[0.3615587850889583,-1.6910903464826812]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.008343924296335792,-1.8225195707344195,0.71338606911949],"aabb_xy":[[0.0013036143627987997,-1.9025195701340911],[0.015384234229872788,-1.7425195713347483]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.601461367021739,0.3129709397209468,0.71338606911949],"aabb_xy":[[0.5789613672078366,0.3084963233504661],[0.6239613668356414,0.3174455560914275]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[0.5893561519926602,-2.092797313929173,0.71338606911949],"aabb_xy":[[0.5828545154846557,-2.102565135955483],[0.595857788500665,-2.0830294919028636]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_24","position":[-0.315091971010693,-0.588083029236333,0.71338606911949],"aabb_xy":[[-0.3518866041355992,-0.6249889043329153],[-0.27829733788578664,-0.5511771541397508]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.1294086242721183,-1.9680853714040296,0.71338606911949],"aabb_xy":[[-0.1994086264035478,-1.990847337029725],[-0.05940862214068873,-1.9453234057783337]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[0.5499261031950373,-1.6299106040458347,0.71338606911949],"aabb_xy":[[0.5149261040022189,-1.640877650043497],[0.5849261023878555,-1.6189435580481715]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_27","position":[0.3567571739676314,1.6830960465661078,0.71338606911949],"aabb_xy":[[0.3366987623543911,1.6630309596569501],[0.3768155855808717,1.703161133475265]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6573793670502389,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2044.png","name":"2044"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2044.png","name":"2044"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7202.png","name":"7202"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1245.png","name":"1245"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5650.png","name":"5650"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4074.png","name":"4074"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":751.6050307495286,"rotation_z_degrees":228.72988248286768,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006149553348147291,-0.019374692013266977,-0.0036844156769683285]},{"name":"camera_2","offset_m":[-0.017062862837432434,-0.011374133348014289,0.019496198466107274]},{"name":"camera_3","offset_m":[-0.00369036772689315,0.008801928971135776,0.004155715155409197]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00011707128079713278,-8.882230563106355e-06,0.0009391800301368465],"end_effector_yaw_offset_degrees":-0.5116406874924533},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010765845283157525,0.001399422819145164,0.0012085297867262417],"end_effector_yaw_offset_degrees":0.1553564757564585},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007031600204510657,0.00025986847732099383,0.0017596780444610266],"end_effector_yaw_offset_degrees":0.5359212119699512}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028538194288487877,-0.003170325661253791],"position_m":[0.1997538194288488,0.30452967433874617,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001862771307376161,-0.001828968853783718],"position_m":[0.24193722869262382,-0.3360289688537837,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036419503253326017,0.004170093442818154],"position_m":[0.2946419503253326,-0.07282990655718184,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011580680498447216,0.0022017061295791993],"position_m":[0.3294419319501553,0.0831017061295792,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dbf187fd057c705035da73848ab530fbef2d8fdb4cef95d68d383978151a2384","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2044/tex_ceiling_textures_4074/tex_floor_textures_5650/tex_table_textures_7202/tex_wall_textures_1245","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8057647455174847111,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8057647455174847111,"visual_seed":8057647455174847111,"scene_id":"lab_003","finished_at":"2026-09-04T08:57:26"}
+{"episode_id":"ep_000042","started_at":"2026-09-04T08:57:29","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.6629150702344104,-1.6909933666758548,0.71338606911949],"aabb_xy":[[-0.6755418575216067,-1.7005394403774277],[-0.650288282947214,-1.6814472929742819]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[0.005353221585659762,-1.630504358047225,0.71338606911949],"aabb_xy":[[-0.032146778231373796,-1.6351425693583665],[0.04285322140269332,-1.6258661467360829]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.40955092883398936,-0.9042062802257369,0.71338606911949],"aabb_xy":[[0.3873784018573384,-0.9263819473818601],[0.4317234558106401,-0.8820306130696137]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.043138003335559505,-1.1302791066709863,0.71338606911949],"aabb_xy":[[-0.07310556024538517,-1.160279106968872],[-0.01317044642573384,-1.1002791063731006]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[-0.24736472698998002,-0.3790585389323393,0.71338606911949],"aabb_xy":[[-0.3373647306668982,-0.4404909455094435],[-0.15736472331306184,-0.31762613235523485]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.05782444339548187,1.5890249100347051,0.71338606911949],"aabb_xy":[[-0.09532444418747732,1.5826570690765145],[-0.020324442603486426,1.595392750992895]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[0.45207620988056907,0.8430725514015407,0.71338606911949],"aabb_xy":[[0.42707621032883053,0.8329300675364059],[0.4770762094323075,0.8532150352666753]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[0.19121443684195516,0.7593052637982272,0.71338606911949],"aabb_xy":[[0.12121443420536879,0.7392003988023614],[0.2612144394785415,0.7794101287940924]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[0.12207954228960805,-0.6806600667984117,0.71338606911949],"aabb_xy":[[0.11662159665258796,-0.7606600701060707],[0.1275374879266281,-0.6006600634907525]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.47631378193800367,1.1121242379794203,0.71338606911949],"aabb_xy":[[-0.5262980176461809,1.0621242391659247],[-0.4263295462298265,1.1621242367929159]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[-0.5001143204228911,-2.3106924343427377,0.71338606911949],"aabb_xy":[[-0.5203986231462897,-2.330975059485446],[-0.47983001769949224,-2.2904098092000287]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.4089795950827379,-1.02005532434427,0.71338606911949],"aabb_xy":[[-0.42652628999885683,-1.0575553259085213],[-0.39143290016661897,-0.9825553227800188]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.45526387005647573,0.5528825509450321,0.71338606911949],"aabb_xy":[[0.39367311083248296,0.48888255283598536],[0.5168546292804685,0.6168825490540791]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.09292034463315701,1.3771420221621997,0.71338606911949],"aabb_xy":[[-0.09825285928777001,1.3718176939169644],[-0.08758782997854404,1.3824663504074355]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.38218620931791497,0.723012319203209,0.71338606911949],"aabb_xy":[[-0.4125843204170585,0.6926054172015392],[-0.35178809821877133,0.7534192212048783]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.029734710734264813,-1.8062858388076377,0.71338606911949],"aabb_xy":[[0.006818997849214909,-1.8291901359440614],[0.05265042361931472,-1.7833815416712144]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.2626135288108823,-2.0628874284135246,0.71338606911949],"aabb_xy":[[0.1926135324009204,-2.083325364065206],[0.332613525220844,-2.0424494927618424]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[0.6020001408954527,-0.20003278932071034,0.71338606911949],"aabb_xy":[[0.5220001429146677,-0.2076343302825623],[0.6820001388762378,-0.19243124835885841]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[0.191458345930558,1.0821688606411777,0.71338606911949],"aabb_xy":[[0.17712392080439454,1.0701086450866388],[0.20579277105672145,1.0942290761957165]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[-0.25609729080958954,-1.166049169478212,0.71338606911949],"aabb_xy":[[-0.27993350845019466,-1.2560491702866987],[-0.23226107316898453,-1.0760491686697258]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.5180110792044618,0.7408277623140895,0.71338606911949],"aabb_xy":[[-0.5284226378849455,0.735482028978191],[-0.507599520523978,0.746173495649988]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[-0.6268739232154273,-1.8180933848432295,0.71338606911949],"aabb_xy":[[-0.6401048687501085,-1.8313208038652287],[-0.6136429776807459,-1.8048659658212298]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[0.6241814661432183,-1.3058751844408631,0.71338606911949],"aabb_xy":[[0.6171400151924707,-1.3129019361786578],[0.6312229170939659,-1.2988484327030685]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[-0.1604904550438121,-1.4443336644511247,0.71338606911949],"aabb_xy":[[-0.24049045531741906,-1.5172832122768416],[-0.0804904547702051,-1.3713841166254082]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[-0.6480740858161529,-1.44726659553188,0.71338606911949],"aabb_xy":[[-0.6839875902411425,-1.4831801037486343],[-0.6121605813911632,-1.4113530873151252]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[0.4259550991024943,0.0035462738365676927,0.71338606911949],"aabb_xy":[[0.40095509916997646,-0.0033363943843556228],[0.45095509903501224,0.010428942057491009]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_26","position":[0.5166235768568772,-1.3840718159878844,0.71338606911949],"aabb_xy":[[0.46665051132436186,-1.4340718158004175],[0.5665966423893928,-1.3340718161753518]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[0.5779064458248351,-1.0017039104138632,0.71338606911949],"aabb_xy":[[0.5179064452288189,-1.0565163829590867],[0.6379064464208513,-0.9468914378686397]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[-0.20880660954573715,1.8170968807173948,0.71338606911949],"aabb_xy":[[-0.22701243320698486,1.8060714801354036],[-0.1906007858844895,1.828122281299387]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_29","position":[0.5429099411375764,-2.179993981112869,0.71338606911949],"aabb_xy":[[0.505409942714176,-2.193158195080699],[0.5804099395609768,-2.1668297671450376]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_30","position":[0.5011604298979397,-1.9604742320858177,0.71338606911949],"aabb_xy":[[0.4411604293900869,-2.017320965771739],[0.5611604304057927,-1.9036274983998964]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_31","position":[0.6614698184491972,-0.631413677441858,0.71338606911949],"aabb_xy":[[0.6244357090211374,-0.6657908847755672],[0.6985039278772569,-0.5970364701081484]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_32","position":[0.6379806957575074,1.1087673234853366,0.71338606911949],"aabb_xy":[[0.6068337769139241,1.0387673247985294],[0.6691276146010904,1.1787673221721437]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_33","position":[-0.3901589083944036,-0.07217083998109697,0.71338606911949],"aabb_xy":[[-0.45415890569675,-0.11653726694895372],[-0.3261589110920572,-0.027804413013240215]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_34","position":[0.6145052301523848,1.4975970659665125,0.71338606911949],"aabb_xy":[[0.5975944977160429,1.484124860373898],[0.6314159625887265,1.5110692715591272]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6579261564481301,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8451.png","name":"8451"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8451.png","name":"8451"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9595.png","name":"9595"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5247.png","name":"5247"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6708.png","name":"6708"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1319.png","name":"1319"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":712.1868961529706,"rotation_z_degrees":65.00603867864082,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016969162343491318,-0.009910130531609163,0.005599945238231083]},{"name":"camera_2","offset_m":[-0.019774042099771447,0.017613050901349184,-0.006905249003155221]},{"name":"camera_3","offset_m":[-0.004957348770907432,0.011253160379585726,0.011347386403783789]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001076718309302878,-0.000572093588004353,-0.00027739116127083294],"end_effector_yaw_offset_degrees":0.7781316131536407},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016348152868303299,0.0014606619118964336,-0.001103513076981471],"end_effector_yaw_offset_degrees":-0.4054564987101885},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007714323669975047,0.0002615654164816795,-0.0006553621023365746],"end_effector_yaw_offset_degrees":-0.40072412974291716}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0028107006191185327,0.0009366471997406525],"position_m":[0.19408929938088146,0.3086366471997406,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00036066859811522984,0.0008574334049134677],"position_m":[0.24416066859811522,-0.33334256659508654,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0039899937211699665,-0.0033952532536585312],"position_m":[0.28701000627883,-0.08039525325365852,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016280508078929026,-0.0021685492185581755],"position_m":[0.3322280508078929,0.07873145078144182,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a9c06d86406ed7693b4ad10ebcc2826b8fcadffcdd564a2d88aba7c0468ad93d","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8451/tex_ceiling_textures_1319/tex_floor_textures_6708/tex_table_textures_9595/tex_wall_textures_5247","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5272133244603268149,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5272133244603268149,"visual_seed":5272133244603268149,"scene_id":"lab_003","finished_at":"2026-09-04T09:00:20"}
+{"episode_id":"ep_000043","started_at":"2026-09-04T09:00:24","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[-0.1509243970339641,-1.7066649404662844,0.71338606911949],"aabb_xy":[[-0.15854866512414234,-1.7142981640028283],[-0.14330012894378585,-1.6990317169297409]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[0.595827743706496,-1.3380384809491883,0.71338606911949],"aabb_xy":[[0.5508351569880455,-1.3830384802236368],[0.6408203304249463,-1.2930384816747393]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[-0.118592447596651,1.5158488154811685,0.71338606911949],"aabb_xy":[[-0.15290872477126893,1.4658488155079907],[-0.08427617042203304,1.5658488154543462]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.441735061990258,-1.7481153013372712,0.71338606911949],"aabb_xy":[[0.4323880544079628,-1.7624189235549155],[0.45108206957255326,-1.7338116791196274]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[0.3419018884068843,-1.1895246573977896,0.71338606911949],"aabb_xy":[[0.3240327806524288,-1.2033575653750006],[0.3597709961613398,-1.1756917494205785]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.5287139651519948,-1.3895538910121648,0.71338606911949],"aabb_xy":[[-0.5987139615619563,-1.4099918266638463],[-0.4587139687420328,-1.3691159553604828]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.5115434678170212,-1.2925357501153372,0.71338606911949],"aabb_xy":[[-0.5286455457753894,-1.3096425556466067],[-0.49444138985865305,-1.2754289445840672]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.2893907584448931,-1.8590840047023023,0.71338606911949],"aabb_xy":[[-0.3054526859034107,-1.944084006514894],[-0.2733288309863754,-1.7740840028897105]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[0.5618484041414322,-0.9077549970638716,0.71338606911949],"aabb_xy":[[0.48184840673783874,-0.9877475682620545],[0.6418484015450255,-0.8277624258656888]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[0.6268735836416512,-2.048122569788616,0.71338606911949],"aabb_xy":[[0.5668735831337982,-2.104969303474537],[0.6868735841495041,-1.9912758361026945]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[-0.5978744194831214,-0.950844051325316,0.71338606911949],"aabb_xy":[[-0.6065723817738367,-0.9629690256327909],[-0.5891764571924061,-0.9387190770178414]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.3174366959483512,1.670997286115075,0.71338606911949],"aabb_xy":[[0.3022645266667179,1.6558284291868717],[0.33260886522998456,1.6861661430432784]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[-0.2538278394297024,-0.4802446666750759,0.71338606911949],"aabb_xy":[[-0.2713278396747517,-0.49774445451464283],[-0.23632783918465297,-0.46274487883550913]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[0.662578768568713,0.1287406378368967,0.71338606911949],"aabb_xy":[[0.6508105817740556,0.04374063793167516],[0.6743469553633706,0.21374063774211832]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[-0.22537777999137637,-1.2028329077715114,0.71338606911949],"aabb_xy":[[-0.23168987952771483,-1.2085998470247306],[-0.21906568045503796,-1.1970659685182927]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[0.6042493786582879,-0.6006210919599353,0.71338606911949],"aabb_xy":[[0.5978355650151028,-0.6070309122076034],[0.6106631923014727,-0.5942112717122667]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[-0.17261712894899706,0.8305498539205733,0.71338606911949],"aabb_xy":[[-0.21011712961357576,0.814862795920351],[-0.13511712828441835,0.8462369119207954]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.4041981565957621,1.2618521550127064,0.71338606911949],"aabb_xy":[[-0.4266981568392774,1.2496475203529345],[-0.38169815635224663,1.2740567896724784]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[0.6762137869427138,-0.5799625346019024,0.71338606911949],"aabb_xy":[[0.664968731372096,-0.5912043323259977],[0.6874588425133317,-0.5687207368778071]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_19","position":[0.5713667590087772,0.8777212995414994,0.71338606911949],"aabb_xy":[[0.558494855507837,0.7977212991276631],[0.5842386625097172,0.9577212999553354]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.1591031536769596,1.791420952283008,0.71338606911949],"aabb_xy":[[-0.17668145586590647,1.773846462708903],[-0.14152485148801278,1.808995441857113]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6567170428545185,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1017.png","name":"1017"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1017.png","name":"1017"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8492.png","name":"8492"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5811.png","name":"5811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7475.png","name":"7475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5358.png","name":"5358"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":829.7615167280265,"rotation_z_degrees":48.91710341947786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01891149929210491,-0.0002727877463963753,0.008442392262974639]},{"name":"camera_2","offset_m":[-0.01802779998833612,-0.005745047257487399,0.019525728023294057]},{"name":"camera_3","offset_m":[-0.010548522525432511,-0.01937293616505773,-0.012472571809691285]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019835928791689145,-0.00021995456662422808,-0.001813706106431941],"end_effector_yaw_offset_degrees":-0.7587019428027453},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001851154357947427,-0.00014497091032194295,0.0017823225283613584],"end_effector_yaw_offset_degrees":0.23113933264776},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006723229630629971,-0.00049006357891112,0.0002005519610608947],"end_effector_yaw_offset_degrees":0.6551197758812979}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003548478113971637,-0.00460527108814746],"position_m":[0.19335152188602836,0.3030947289118525,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004254570683888594,0.0033612940143174586],"position_m":[0.24422545706838886,-0.33083870598568255,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[4.729060689792619e-05,0.0007520055618344679],"position_m":[0.29104729060689793,-0.07624799443816553,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035714667932586,-0.0005175546548177512],"position_m":[0.3270285332067414,0.08038244534518225,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ab3666f2b2d29181f8d63ab6ad2a75a6e07ebc7658033385f7eaa832cce26e4","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0043.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1017/tex_ceiling_textures_5358/tex_floor_textures_7475/tex_table_textures_8492/tex_wall_textures_5811","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":9191343647624395994,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":9191343647624395994,"visual_seed":9191343647624395994,"scene_id":"lab_003","finished_at":"2026-09-04T09:03:16"}
+{"episode_id":"ep_000044","started_at":"2026-09-04T09:03:19","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[0.5379962170644417,-1.0033118602093611,0.71338606911949],"aabb_xy":[[0.5210854846280997,-1.0167840658019756],[0.5549069495007832,-0.9898396546167465]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[-0.6648147683616699,0.0220752687276482,0.71338606911949],"aabb_xy":[[-0.6718550782952069,-0.057924730672023216],[-0.6577744584281329,0.10207526812731962]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.32344518196833955,-1.4737775377678086,0.71338606911949],"aabb_xy":[[-0.358445180279035,-1.4814925526913543],[-0.2884451836576441,-1.466062522844263]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.6072291927971347,0.6486469836554711,0.71338606911949],"aabb_xy":[[0.60119217979647,0.6426202825865229],[0.6132662057977994,0.6546736847244193]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.6022596156047559,-2.1352250464615863,0.71338606911949],"aabb_xy":[[-0.6098838836949343,-2.1428582699981304],[-0.5946353475145778,-2.127591822925043]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.33591483061888777,-1.9179321777030225,0.71338606911949],"aabb_xy":[[-0.40091482850053567,-1.9690558414095634],[-0.27091483273724004,-1.8668085139964816]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[0.6091365777666988,0.2280374786443633,0.71338606911949],"aabb_xy":[[0.5914609471781005,0.21035726236496052],[0.6268122083552972,0.24571769492376602]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[-0.05003587762527162,1.6310036101560557,0.71338606911949],"aabb_xy":[[-0.11403587930326897,1.5824862186767414],[0.013964124052725735,1.6795210016353699]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.3105674228192292,1.1687408460119015,0.71338606911949],"aabb_xy":[[0.24656742047642763,1.1237999947677688],[0.37456742516203073,1.2136816972560338]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.07981030422649005,-0.6859832346227839,0.71338606911949],"aabb_xy":[[-0.1050311410863297,-0.7112069854756706],[-0.05458946736665037,-0.6607594837698971]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[0.6613614868835662,-0.47523100624405146,0.71338606911949],"aabb_xy":[[0.6115447074187315,-0.5252310047283548],[0.711178266348401,-0.4252310077597481]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[0.0588523311621485,1.771047923614233,0.71338606911949],"aabb_xy":[[0.05235069465414388,1.7612801015879231],[0.06535396767015311,1.7808157456405427]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[-0.6128807846862538,1.190552512556994,0.71338606911949],"aabb_xy":[[-0.6550651988470847,1.126552512279783],[-0.5706963705254232,1.2545525128342054]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.11713905463783947,-1.678056124815329,0.71338606911949],"aabb_xy":[[-0.1821390546721422,-1.7247568014956562],[-0.05213905460353675,-1.6313554481350017]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[-0.1529455234996625,0.37338499465431463,0.71338606911949],"aabb_xy":[[-0.15828309916566707,0.34838499372517484],[-0.14760794783365794,0.3983849955834544]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.15888175070537436,0.6102596372745892,0.71338606911949],"aabb_xy":[[-0.222881751082908,0.5605143704237768],[-0.09488175032784077,0.6600049041254014]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.08887696299700665,1.073016785812051,0.71338606911949],"aabb_xy":[[0.038894012809527305,1.0230167861694905],[0.13885991318448596,1.1230167854546114]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.5999345844739492,0.6983009371798183,0.71338606911949],"aabb_xy":[[-0.6639345866943562,0.65392785305453],[-0.5359345822535422,0.7426740213051066]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.6019980098217053,-2.5223705163120176,0.71338606911949],"aabb_xy":[[0.537998010527537,-2.586356656680872],[0.6659980091158735,-2.4583843759431634]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[-0.261110887854627,-0.17856354763267568,0.71338606911949],"aabb_xy":[[-0.28494710549523206,-0.26856354844116215],[-0.23727467021402193,-0.0885635468241892]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[0.5285911023524001,-1.4328364443087998,0.71338606911949],"aabb_xy":[[0.5060911028286927,-1.4553323917594203],[0.5510911018761075,-1.4103404968581787]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[0.21201309761449139,0.5426102384245657,0.71338606911949],"aabb_xy":[[0.17451309642969856,0.538192015728505],[0.24951309879928416,0.547028461120626]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[-0.5500330526358503,0.44287896545675354,0.71338606911949],"aabb_xy":[[-0.562500410745586,0.43041364082343003],[-0.5375656945261147,0.45534429009007704]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.15531392477970773,-2.187029667530942,0.71338606911949],"aabb_xy":[[0.09372316555571492,-2.2510296656399897],[0.21690468400370055,-2.123029669421896]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[0.2656762232972065,-1.9372792656380848,0.71338606911949],"aabb_xy":[[0.22817622178157476,-1.9485060386542294],[0.3031762248128382,-1.9260524926219393]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_25","position":[-0.3905108602942621,-2.0659921134480443,0.71338606911949],"aabb_xy":[[-0.4080108605535988,-2.0800836556368174],[-0.3730108600349255,-2.051900571259272]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_26","position":[0.15629179207046506,0.7433506840714177,0.71338606911949],"aabb_xy":[[0.10129631424980565,0.6883506826375106],[0.21128726989112442,0.7983506855053245]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_27","position":[-0.1525295421241507,0.7943256464103099,0.71338606911949],"aabb_xy":[[-0.16576048765883197,0.7810982273883104],[-0.1392985965894694,0.8075530654323092]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[-0.5833941626296962,-1.828435870407227,0.71338606911949],"aabb_xy":[[-0.6533941644384417,-1.8497896391714146],[-0.5133941608209508,-1.8070821016430398]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[0.49752261988089796,-0.7104539595674244,0.71338606911949],"aabb_xy":[[0.48146069242238027,-0.795453961380016],[0.5135845473394155,-0.6254539577548324]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_30","position":[0.10588676906540939,-1.4173945435700663,0.71338606911949],"aabb_xy":[[0.09503516281653378,-1.4282538342977174],[0.11673837531428498,-1.4065352528424153]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[-0.5210264680675336,-0.5508926266958687,0.71338606911949],"aabb_xy":[[-0.5910264707041198,-0.5709974916917341],[-0.45102646543094715,-0.5307877617000031]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_32","position":[0.36157066756604284,-2.362708009612766,0.71338606911949],"aabb_xy":[[0.311570665904548,-2.4127064518684684],[0.41157066922753754,-2.312709567357063]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6573682204535211,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9721.png","name":"9721"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9721.png","name":"9721"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1013.png","name":"1013"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6737.png","name":"6737"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1642.png","name":"1642"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1109.png","name":"1109"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":753.2387369761339,"rotation_z_degrees":252.86583857387546,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01371813014041626,0.011466404898744311,-0.014559142280069466]},{"name":"camera_2","offset_m":[-0.008511179774046473,-0.015151542547474365,0.0003789035100082612]},{"name":"camera_3","offset_m":[0.007667801403718078,-0.011438601449146693,-0.01692833788736793]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-7.881790266940224e-05,0.0006913196213425049,-3.084403891190964e-05],"end_effector_yaw_offset_degrees":-0.48317772259491054},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000481999472634289,0.0007878398481542238,0.0004798181856356192],"end_effector_yaw_offset_degrees":0.566737967421844},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016900832036958304,0.001316626528185857,-0.000886902791087166],"end_effector_yaw_offset_degrees":-0.42697787797048137}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020072615982681162,-0.001438040652477345],"position_m":[0.19489273840173188,0.30626195934752265,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005844814917791812,0.0003516194680571929],"position_m":[0.24321551850822082,-0.3338483805319428,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001090027870450488,-0.0013515170705135538],"position_m":[0.29209002787045046,-0.07835151707051355,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033194447983142033,-0.0037195665490715223],"position_m":[0.3339194447983142,0.07718043345092848,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c98833ef758b0c7334c564e4c05a3d3b5b3e9d87b764396ce77ad1a00c80849d","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9721/tex_ceiling_textures_1109/tex_floor_textures_1642/tex_table_textures_1013/tex_wall_textures_6737","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7194474724381552197,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7194474724381552197,"visual_seed":7194474724381552197,"scene_id":"lab_003","finished_at":"2026-09-04T09:06:20"}
+{"episode_id":"ep_000045","started_at":"2026-09-04T09:06:23","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.1341292825334025,0.5800256147682856,0.71338606911949],"aabb_xy":[[-0.14569826328033908,0.555025614651354],[-0.12256030178646593,0.6050256148852174]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.4118023348162756,-1.6640255662543724,0.71338606911949],"aabb_xy":[[0.34780233290393336,-1.719936715512383],[0.47580233672861805,-1.6081144169963622]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[-0.147837584659682,-2.402614821396848,0.71338606911949],"aabb_xy":[[-0.18533758532426067,-2.41830187939707],[-0.11033758399510328,-2.3869277633966255]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[0.54941452921102,0.5809880689832405,0.71338606911949],"aabb_xy":[[0.4644145305189453,0.5490022055883617],[0.6344145279030946,0.6129739323781194]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.4238321870611448,-2.501002413619854,0.71338606911949],"aabb_xy":[[0.40673010910277657,-2.518109219151124],[0.4409342650195129,-2.4838956080885843]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[-0.3598704591445109,-1.4475519577944798,0.71338606911949],"aabb_xy":[[-0.3943329371575986,-1.4542156349774025],[-0.32540798113142305,-1.4408882806115566]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.5354687435252581,-1.9799913384850742,0.71338606911949],"aabb_xy":[[-0.590442465561591,-2.034991338049308],[-0.4804950214889252,-1.9249913389208415]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[-0.5677819022861924,0.9847617045108952,0.71338606911949],"aabb_xy":[[-0.6327819032433195,0.9328134925771894],[-0.5027819013290651,1.0367099164446003]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[-0.1942246589301787,0.3996258350715589,0.71338606911949],"aabb_xy":[[-0.22800021812087165,0.3855873398583939],[-0.1604490997394857,0.41366433028472394]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[-0.33260456492796703,-1.629705670641389,0.71338606911949],"aabb_xy":[[-0.3825875151154463,-1.679705670283949],[-0.28262161474048764,-1.5797056709988282]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.09790591105965696,0.6466140693642397,0.71338606911949],"aabb_xy":[[0.06040591088778502,0.6139133339813325],[0.1354059112315289,0.6793148047471469]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.08192381083271949,-1.1606410959998044,0.71338606911949],"aabb_xy":[[-0.15192381243499897,-1.1740738892014622],[-0.011923809230440008,-1.147208302798147]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.3480516319928113,-1.4790470073938025,0.71338606911949],"aabb_xy":[[0.29292642636322047,-1.5390470088350894],[0.40317683762240203,-1.419047005952515]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.32912318004272145,1.6176539263735514,0.71338606911949],"aabb_xy":[[0.2691231797913202,1.5633726013370863],[0.3891231802941226,1.6719352514100156]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[-0.4919598565325106,-2.326686194984321,0.71338606911949],"aabb_xy":[[-0.5559598569100441,-2.3764314618351325],[-0.4279598561549769,-2.276940928133508]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.5663304409002521,-2.1973231813857166,0.71338606911949],"aabb_xy":[[-0.6006273519179925,-2.2316200675956575],[-0.5320335298825114,-2.163026295175775]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[0.5709183589529447,-0.8406447808627076,0.71338606911949],"aabb_xy":[[0.5476365167548133,-0.9256447821599356],[0.594200201151076,-0.7556447795654795]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.3744533471889493,-2.28423621484469,0.71338606911949],"aabb_xy":[[0.32445334582806207,-2.3342141194201056],[0.4244533485498365,-2.2342583102692744]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[0.696229700624265,1.0554262624925048,0.71338606911949],"aabb_xy":[[0.6874276453152922,1.0476149363375757],[0.7050317559332376,1.063237588647434]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.6577121230517831,-0.06650770970403075,0.71338606911949],"aabb_xy":[[0.5927121219458399,-0.09147308277215906],[0.7227121241577265,-0.04154233663590247]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.564676034741094,0.29218771002256494,0.71338606911949],"aabb_xy":[[0.5567527545023456,0.2696877097845616],[0.5725993149798423,0.3146877102605683]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.6333925812393235,0.4200700918786082,0.71338606911949],"aabb_xy":[[0.6164818488029817,0.4065978862859936],[0.6503033136756653,0.43354229747122264]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[0.38986008397758165,0.8572723976190098,0.71338606911949],"aabb_xy":[[0.3048600855601584,0.7723981021567248],[0.4748600823950049,0.9421466930812947]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[-0.29070598633549516,-2.271489945645962,0.71338606911949],"aabb_xy":[[-0.350705986843348,-2.328336679331883],[-0.2307059858276422,-2.21464321196004]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[-0.4494809356196353,1.1522683602780668,0.71338606911949],"aabb_xy":[[-0.45579303515597375,1.1465014210248479],[-0.4431688360832969,1.1580352995312857]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[0.6579361314200483,0.0948345392878216,0.71338606911949],"aabb_xy":[[0.6079361327741271,0.0449149956283592],[0.7079361300659694,0.14475408294728398]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[-0.20140265479312386,-1.3534318010409176,0.71338606911949],"aabb_xy":[[-0.23640265614460557,-1.3737915369977383],[-0.1664026534416421,-1.3330720650840966]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[-0.5643273862925693,0.2595605508086254,0.71338606911949],"aabb_xy":[[-0.6443273834521446,0.2480129498508083],[-0.484327389132994,0.2711081517664424]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_28","position":[0.43209819721459364,1.2920751600024807,0.71338606911949],"aabb_xy":[[0.40826197957398863,1.2020751591939944],[0.45593441485519876,1.3820751608109674]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_29","position":[-0.16093736384693225,1.3565663401472965,0.71338606911949],"aabb_xy":[[-0.16583665615349572,1.3288894208447277],[-0.15603807154036872,1.3842432594498653]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_30","position":[0.6311214374171268,-0.6648384820747464,0.71338606911949],"aabb_xy":[[0.5811372017089494,-0.7148384808882419],[0.6811056731253039,-0.6148384832612507]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[-0.03888833357008825,-0.8794924812690244,0.71338606911949],"aabb_xy":[[-0.06138475500395235,-0.9019924810757717],[-0.01639191213622415,-0.8569924814622768]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_32","position":[0.22477657913728954,1.8120262587220286,0.71338606911949],"aabb_xy":[[0.20227657912714125,1.797930039082425],[0.24727657914743784,1.8261224783616317]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_33","position":[-0.48375903545136234,0.5869283424358631,0.71338606911949],"aabb_xy":[[-0.4935150249605362,0.5771658083766287],[-0.4740030459421884,0.5966908764950976]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6563127163272959,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7277.png","name":"7277"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7277.png","name":"7277"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3496.png","name":"3496"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6085.png","name":"6085"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/248.png","name":"248"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4332.png","name":"4332"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":691.3419271556496,"rotation_z_degrees":130.88572208680398,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001736505762571016,-0.007900484847567096,0.007888136446830295]},{"name":"camera_2","offset_m":[-0.004568000572703941,-0.006398030342867922,0.01253955124791523]},{"name":"camera_3","offset_m":[-0.006236808736835978,-0.01245882497334289,-0.007684835767475948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013275270722960765,-0.0015080195515438555,-0.0014270185898418784],"end_effector_yaw_offset_degrees":0.1056212069609268},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001172087289858629,-0.0018248089339584221,-0.00035062435740094294],"end_effector_yaw_offset_degrees":-0.19002702926506165},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001097487386142351,-0.0017130417226590606,0.0003106261736107764],"end_effector_yaw_offset_degrees":0.611778104365809}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014068434653930662,0.004233685331333112],"position_m":[0.19549315653460692,0.3119336853313331,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00319869828214175,-0.0019874954898873665],"position_m":[0.24060130171785823,-0.33618749548988736,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035800382129853635,-0.004202117451483189],"position_m":[0.29458003821298534,-0.08120211745148319,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009987913222655092,-0.0012912579451845275],"position_m":[0.3296012086777345,0.07960874205481547,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e08de7363fb62a883600a872127c5779aa1c81c2f7b5c3c6ea4155da2c5a13ba","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7277/tex_ceiling_textures_4332/tex_floor_textures_248/tex_table_textures_3496/tex_wall_textures_6085","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6837495220360099472,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6837495220360099472,"visual_seed":6837495220360099472,"scene_id":"lab_003","finished_at":"2026-09-04T09:09:18"}
+{"episode_id":"ep_000046","started_at":"2026-09-04T09:09:22","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.595000711076391,-2.178575331835305,0.71338606911949],"aabb_xy":[[-0.6022619586467983,-2.1913623420988144],[-0.5877394635059836,-2.1657883215717955]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[0.46327152284950746,0.6798748930064313,0.71338606911949],"aabb_xy":[[0.3932715264395456,0.6594369573547494],[0.5332715192594691,0.7003128286581128]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[-0.3440072029983461,0.49734160660189364,0.71338606911949],"aabb_xy":[[-0.3591700759752832,0.4821761493067749],[-0.32884433002140906,0.5125070638970124]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[0.3258305764593752,-1.2211217953918343,0.71338606911949],"aabb_xy":[[0.3106584071777419,-1.2362906523200377],[0.3410027457410086,-1.205952938463631]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.14480092866100003,0.7428939976349298,0.71338606911949],"aabb_xy":[[-0.1522133842023885,0.7370427872133019],[-0.13738847311961155,0.7487452080565578]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.08513216908745247,-1.0168269614429857,0.71338606911949],"aabb_xy":[[0.06845503309435697,-1.033526885416916],[0.10180930508054797,-1.0001270374690554]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[-0.21735953273979852,-1.5406679670909624,0.71338606911949],"aabb_xy":[[-0.2398559541736626,-1.5631679668977094],[-0.1948631113059344,-1.5181679672842145]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[-0.38912883873416176,-0.00869249584900933,0.71338606911949],"aabb_xy":[[-0.44412205007129857,-0.06369249618780294],[-0.334135627397025,0.046307504489784275]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[0.02436909021016498,-1.8793580993617645,0.71338606911949],"aabb_xy":[[0.0005328725695599169,-1.9693581001702511],[0.048205307850770054,-1.7893580985532782]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[-0.4758588297551971,-1.289501691744742,0.71338606911949],"aabb_xy":[[-0.47999468608789736,-1.327001691189099],[-0.47172297342249697,-1.252001692300385]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.5140406280208343,0.20123595272375194,0.71338606911949],"aabb_xy":[[0.4806004528248145,0.16779232689282184],[0.5474808032168537,0.234679578554682]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[-0.2256610679556813,0.5380105550027725,0.71338606911949],"aabb_xy":[[-0.23124273958981006,0.5255105551849969],[-0.22007939632155255,0.5505105548205479]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[0.07537606547037468,-0.9034086665242165,0.71338606911949],"aabb_xy":[[0.03852551753338705,-0.9409086673472502],[0.11222661340736227,-0.8659086657011827]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[0.6678400599750909,-0.8312850473445141,0.71338606911949],"aabb_xy":[[0.6527377585140726,-0.8463865689755757],[0.6829423614361088,-0.8161835257134521]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[0.4466367854999094,-0.7197860762313741,0.71338606911949],"aabb_xy":[[0.44117883986288936,-0.7997860795390334],[0.4520947311369295,-0.6397860729237151]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.31798928284987377,0.7221471902761527,0.71338606911949],"aabb_xy":[[-0.4079892795854839,0.668963726958858],[-0.2279892861142635,0.775330653593447]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[0.28985044649824576,-2.3052720139969067,0.71338606911949],"aabb_xy":[[0.2523504453134529,-2.3096902366929664],[0.3273504476830385,-2.3008537913008453]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.09518721592819979,1.0206501031732498,0.71338606911949],"aabb_xy":[[0.08748402525412273,1.0129407324745117],[0.10289040660227682,1.028359473871988]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.30984566383529144,0.18786760093094568,0.71338606911949],"aabb_xy":[[-0.37484566386959417,0.1411669242506184],[-0.2448456638009887,0.23456827761127297]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[-0.3576432545250197,-1.720843798671317,0.71338606911949],"aabb_xy":[[-0.36405706816820455,-1.7272536189189853],[-0.35122944088183466,-1.7144339784236486]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.0245240178545314,0.8869723459637138,0.71338606911949],"aabb_xy":[[-0.059524016165226845,0.8792573310401681],[0.010475980456164047,0.8946873608872594]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[-0.31814365261472444,-1.9040278366205894,0.71338606911949],"aabb_xy":[[-0.32855521129520815,-1.9093735699564873],[-0.3077320939342407,-1.8986821032846906]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.7131641122791947,1.417767131949653,0.71338606911949],"aabb_xy":[[0.7019190567085768,1.4065253342255575],[0.7244091678498125,1.429008929673748]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[-0.18878204486272587,1.0886160531119473,0.71338606911949],"aabb_xy":[[-0.2487820453705788,1.0317693194260258],[-0.12878204435487295,1.1454627867978684]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[-0.5795038834661628,-1.202701509156925,0.71338606911949],"aabb_xy":[[-0.5834643672358971,-1.2103693737424455],[-0.5755433996964284,-1.1950336445714043]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[0.6716434091762002,0.7367049968079309,0.71338606911949],"aabb_xy":[[0.6373464981584596,0.7024081105979895],[0.7059403201939407,0.7710018830178721]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[-0.41328274486874167,0.37780091229032786,0.71338606911949],"aabb_xy":[[-0.42291438108917123,0.3681635995106189],[-0.403651108648312,0.3874382250700367]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[-0.44422260316219037,-0.5213381306975453,0.71338606911949],"aabb_xy":[[-0.5042226048051122,-0.5733382799894895],[-0.38422260151926857,-0.4693379814056011]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_28","position":[0.6102476045091028,-1.3117307780404037,0.71338606911949],"aabb_xy":[[0.5883389223697517,-1.3336314448604945],[0.6321562866484538,-1.289830111220313]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_29","position":[-0.4291791500614009,1.2529456162284913,0.71338606911949],"aabb_xy":[[-0.44704825781585633,1.2391127082512803],[-0.41131004230694534,1.2667785242057024]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_30","position":[-0.5812784007326245,-1.8299574330154014,0.71338606911949],"aabb_xy":[[-0.5893147354339093,-1.837995552319818],[-0.5732420660313396,-1.8219193137109844]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556778124156446,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/320.png","name":"320"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/320.png","name":"320"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/590.png","name":"590"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6604.png","name":"6604"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1667.png","name":"1667"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9487.png","name":"9487"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":789.6430443500158,"rotation_z_degrees":325.43432679383284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012238333698467354,-0.010323304889089792,-0.012032134106068609]},{"name":"camera_2","offset_m":[-0.0014769526630098416,-0.019161431392507543,0.0019350434423310754]},{"name":"camera_3","offset_m":[0.006033344860833574,-0.0008882138795218847,-0.016007592775525957]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007498893533087975,0.00011616834824229594,-0.0009617931521303329],"end_effector_yaw_offset_degrees":-0.04090490209713149},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006265659443119593,0.001293730681050498,-0.0019035261856857836],"end_effector_yaw_offset_degrees":-0.6535628028662044},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007958207665523078,-0.0014718148432232843,-0.001418109069235808],"end_effector_yaw_offset_degrees":0.9224851678397965}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024266379665006453,-0.002615469177992372],"position_m":[0.19447336203349935,0.3050845308220076,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004153072911040862,-0.002347209710497469],"position_m":[0.23964692708895913,-0.33654720971049745,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00205882503973841,0.0004231297216667129],"position_m":[0.28894117496026156,-0.07657687027833329,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004000834196991783,-0.0005622556125851851],"position_m":[0.33460083419699177,0.08033774438741481,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"12cd2ad8c6681648277c81dd1c65104a08d5e217215c8a61d5250069c53bb082","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_320/tex_ceiling_textures_9487/tex_floor_textures_1667/tex_table_textures_590/tex_wall_textures_6604","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2927773485082549624,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2927773485082549624,"visual_seed":2927773485082549624,"scene_id":"lab_003","finished_at":"2026-09-04T09:12:26"}
+{"episode_id":"ep_000047","started_at":"2026-09-04T09:12:29","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[-0.03212435248523793,0.5584603299138435,0.71338606911949],"aabb_xy":[[-0.04913444977528857,0.5423258414155695],[-0.01511425519518727,0.5745948184121173]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[-0.05295639230716365,-0.7925951168560466,0.71338606911949],"aabb_xy":[[-0.07795639223968154,-0.7994777850769699],[-0.027956392374645755,-0.7857124486351232]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.6577381311869186,-1.8409711538408065,0.71338606911949],"aabb_xy":[[0.6314493068664777,-1.8672425874954572],[0.684026955507359,-1.8146997201861548]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.543779065147235,-0.9182435584085813,0.71338606911949],"aabb_xy":[[0.5062790647990072,-0.9300349539896648],[0.5812790654954627,-0.9064521628274977]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.5127384453767108,0.8069651478160442,0.71338606911949],"aabb_xy":[[-0.5767384460801802,0.7609467653431234],[-0.44873844467324153,0.8529835302889655]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.21901051507893088,-1.1265274137198504,0.71338606911949],"aabb_xy":[[-0.2253226146152693,-1.1322943529730696],[-0.21269841554259244,-1.1207604744666317]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.22749441320001806,-1.2089079710611785,0.71338606911949],"aabb_xy":[[0.1924944148893226,-1.216622985984724],[0.2624944115107135,-1.2011929561376327]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[-0.32612809117738,-1.1791750490695398,0.71338606911949],"aabb_xy":[[-0.3636280919693754,-1.18554289002773],[-0.2886280903853845,-1.1728072081113496]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.1877678149437837,0.616667210140879,0.71338606911949],"aabb_xy":[[-0.21816592604292723,0.5862603081392094],[-0.15736970384464005,0.6470741121425484]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[-0.2982612940529548,1.4665199722185522,0.71338606911949],"aabb_xy":[[-0.3181523339332951,1.4538641609338556],[-0.27837025417261463,1.4791757835032493]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[0.34066170215900726,-0.49880438196688903,0.71338606911949],"aabb_xy":[[0.2993571590952713,-0.5628043815350061],[0.38196624522274325,-0.4348043823987719]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.26844872975714124,-2.3973824501725187,0.71338606911949],"aabb_xy":[[-0.2859487290352281,-2.4147205502388647],[-0.25094873047905436,-2.3800443501061728]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[-0.4659576931815232,-1.8935189099793162,0.71338606911949],"aabb_xy":[[-0.5159351100467767,-1.9435189114685643],[-0.41598027631626955,-1.8435189084900672]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.050292653225587514,0.724472670539984,0.71338606911949],"aabb_xy":[[-0.08143957206917063,0.6544726718531767],[-0.01914573438200439,0.794472669226791]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[0.5090961738104869,0.043828746985241196,0.71338606911949],"aabb_xy":[[0.5046655444556467,0.0383803752505586],[0.5135268031653271,0.0492771187199238]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[-0.4773583079807515,0.9408343468399094,0.71338606911949],"aabb_xy":[[-0.48377212162393646,0.9344245265922408],[-0.4709444943375666,0.9472441670875775]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.18519824287642328,-1.2781911621918212,0.71338606911949],"aabb_xy":[[-0.22204879081341086,-1.315691163014855],[-0.14834769493943564,-1.2406911613687874]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.09257075724382235,-1.1136273252402618,0.71338606911949],"aabb_xy":[[-0.10313823690192137,-1.12417235535327],[-0.08200327758572334,-1.103082295127253]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[0.005099085906993039,-2.447844542863672,0.71338606911949],"aabb_xy":[[-0.013785297861517165,-2.4667304676440245],[0.023983469675503244,-2.428958618083319]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[0.2979326761415283,1.1293533103801172,0.71338606911949],"aabb_xy":[[0.2329326782598805,1.0782296466735766],[0.3629326740231761,1.1804769740866583]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[0.6470309031610846,-0.448644808225779,0.71338606911949],"aabb_xy":[[0.6397485867844207,-0.5386448118352878],[0.654313219537748,-0.3586448046162699]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[-0.14737546541825974,-2.4186693809538973,0.71338606911949],"aabb_xy":[[-0.15548912009163685,-2.426775197407927],[-0.13926181074488264,-2.4105635644998684]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[0.029961815232132594,1.5895085897014822,0.71338606911949],"aabb_xy":[[-0.03403818502833821,1.5444997903485542],[0.09396181549260339,1.6345173890544102]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.37251439090514227,-1.631732895812112,0.71338606911949],"aabb_xy":[[-0.4625143932391613,-1.7092152503972247],[-0.2825143885711232,-1.5542505412269993]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6580390964837662,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8242.png","name":"8242"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8242.png","name":"8242"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8555.png","name":"8555"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1250.png","name":"1250"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9889.png","name":"9889"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7015.png","name":"7015"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":560.7912581550045,"rotation_z_degrees":23.365639238797247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008203848408781265,-0.005392723601173502,0.012524811716889666]},{"name":"camera_2","offset_m":[-0.010245578894016068,0.016426145814367275,-0.008554470516718614]},{"name":"camera_3","offset_m":[-0.01458217104179825,0.012736321439329231,-0.016084903970935933]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011566624755687026,0.001313733063853064,0.0005631325265051134],"end_effector_yaw_offset_degrees":0.12557721033602953},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00165465571188065,-0.0001770808377361318,0.0009372892816014518],"end_effector_yaw_offset_degrees":0.3330246110765256},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00186774990098418,0.0011239347185761127,5.077768730213893e-05],"end_effector_yaw_offset_degrees":0.6860901171609104}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002587195302543429,0.004882303732264107],"position_m":[0.1994871953025434,0.3125823037322641,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024069389494143435,-0.004027540252430474],"position_m":[0.24139306105058564,-0.33822754025243046,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00026982813428911775,-0.004108766092222608],"position_m":[0.2907301718657109,-0.0811087660922226,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004466911129707583,0.004561199143661235],"position_m":[0.3261330888702924,0.08546119914366124,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"24c83d45178617abc6a47f34f5876ec4ddd5a40b383b12a0d476c669f05158ac","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0047.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8242/tex_ceiling_textures_7015/tex_floor_textures_9889/tex_table_textures_8555/tex_wall_textures_1250","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3753268455693673572,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3753268455693673572,"visual_seed":3753268455693673572,"scene_id":"lab_003","finished_at":"2026-09-04T09:15:24"}
+{"episode_id":"ep_000048","started_at":"2026-09-04T09:15:27","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.24806685418541452,1.558724935493196,0.71338606911949],"aabb_xy":[[0.21157103355813575,1.5222409930664385],[0.28456267481269326,1.5952088779199536]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.2268398598016047,-0.8038445035358186,0.71338606911949],"aabb_xy":[[0.19004522667669843,-0.8407503786324009],[0.263634492926511,-0.7669386284392363]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[0.6690413436958278,0.5259732695487891,0.71338606911949],"aabb_xy":[[0.6191586468181317,0.47597327030251446],[0.7189240405735241,0.5759732687950639]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[0.6886809176486541,-1.1495558149086342,0.71338606911949],"aabb_xy":[[0.6641672935516483,-1.1738204082106707],[0.71319454174566,-1.1252912216065978]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.21219872469377032,-1.740837301352924,0.71338606911949],"aabb_xy":[[0.17469872611814946,-1.7535735970164816],[0.24969872326939108,-1.7281010056893658]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[-0.43662479955026,-0.06808695191897707,0.71338606911949],"aabb_xy":[[-0.46446983633086714,-0.09887145065728875],[-0.4087797627696529,-0.037302453180665385]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[-0.1340676913730594,0.6599612457777075,0.71338606911949],"aabb_xy":[[-0.14016231926117773,0.6513918512260388],[-0.12797306348494109,0.6685306403293763]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[0.5949949590505441,-0.11651370378305925,0.71338606911949],"aabb_xy":[[0.544994957766704,-0.16649255817368133],[0.644994960334384,-0.06653484939243713]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[0.1933986369288374,-1.9913182173852684,0.71338606911949],"aabb_xy":[[0.15839863695234155,-2.000782833432885],[0.2283986369053332,-1.9818536013376518]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[-0.06526441266644067,0.39057414780171795,0.71338606911949],"aabb_xy":[[-0.10276441248347423,0.38593593649057606],[-0.027764412849407116,0.39521235911285973]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[0.01119915825128337,-2.542251290168125,0.71338606911949],"aabb_xy":[[0.00629986594471987,-2.5699282094706937],[0.016098450557846863,-2.514574370865556]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.5523450458225087,-2.3862775138668395,0.71338606911949],"aabb_xy":[[-0.6073187678588415,-2.4412775134310727],[-0.49737132378617577,-2.3312775143026063]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[0.08403552595991626,-1.8557377143657128,0.71338606911949],"aabb_xy":[[0.041851111799085516,-1.9197377146429242],[0.126219940120747,-1.7917377140885018]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[0.4240977189546833,-1.3787043080150354,0.71338606911949],"aabb_xy":[[0.36009771978491334,-1.4254709951339979],[0.48809771812445324,-1.331937620896073]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[-0.3595906436958417,-0.7446184426512636,0.71338606911949],"aabb_xy":[[-0.40235735057526195,-0.8086184460730662],[-0.31682393681642157,-0.6806184392294613]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[0.570627697891277,1.2671622042944501,0.71338606911949],"aabb_xy":[[0.5206434621830996,1.2171622054809546],[0.6206119335994541,1.3171622031079457]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[0.46661374259037713,-1.2058473294585703,0.71338606911949],"aabb_xy":[[0.4589105519163001,-1.213556700157308],[0.4743169332644542,-1.1981379587598322]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.34859295085026853,0.5968872129823843,0.71338606911949],"aabb_xy":[[0.33096011525674085,0.5792642669667613],[0.366225786443796,0.6145101589980072]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[-0.16254933848721786,-0.8891120475030629,0.71338606911949],"aabb_xy":[[-0.20754192520566825,-0.9341120467775116],[-0.11755675176876743,-0.8441120482286141]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.1672226186817558,-2.4303535945323063,0.71338606911949],"aabb_xy":[[-0.22221809650241517,-2.4853535959662127],[-0.11222714086109639,-2.375353593098399]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.1180856772857739,-1.607691533586208,0.71338606911949],"aabb_xy":[[-0.17808567892869576,-1.6596916828781523],[-0.05808567564285204,-1.555691384294264]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[0.10944946106093667,-2.181915818091204,0.71338606911949],"aabb_xy":[[0.04444945995499339,-2.206881191159332],[0.17444946216687995,-2.1569504450230754]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[-0.31121821743940487,1.6827200224522465,0.71338606911949],"aabb_xy":[[-0.40121821685777576,1.6493445256080568],[-0.22121821802103397,1.7160955192964362]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[-0.5111666709748007,1.3178947166537225,0.71338606911949],"aabb_xy":[[-0.5911666689555858,1.3102931756918705],[-0.43116667299401573,1.3254962576155744]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[-0.20498668097372463,-0.3102597241941223,0.71338606911949],"aabb_xy":[[-0.29498668069689876,-0.33333307672930207],[-0.11498668125055043,-0.2871863716589424]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[-0.42532888785427775,-1.6563333084343956,0.71338606911949],"aabb_xy":[[-0.46282888795987065,-1.6631554702873768],[-0.38782888774868474,-1.6495111465814145]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_26","position":[0.3578674695675126,1.4844612820004008,0.71338606911949],"aabb_xy":[[0.3498411989368866,1.4757097870230484],[0.3658937401981386,1.4932127769777537]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_27","position":[-0.17180707633049586,1.0363475587078455,0.71338606911949],"aabb_xy":[[-0.20930707751528863,1.0319293360117845],[-0.13430707514570303,1.0407657814039055]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_28","position":[-0.6291518884672015,-1.3571748881435681,0.71338606911949],"aabb_xy":[[-0.6743232063153703,-1.4211748852881068],[-0.5839805706190324,-1.29317489099903]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_29","position":[0.5554987167070653,-1.4427882834112775,0.71338606911949],"aabb_xy":[[0.5436266336955641,-1.527788283104928],[0.5673707997185663,-1.3577882837176274]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6637508592311088,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7817.png","name":"7817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7817.png","name":"7817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2690.png","name":"2690"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1958.png","name":"1958"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2459.png","name":"2459"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8022.png","name":"8022"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":697.0472213142389,"rotation_z_degrees":150.23502804100556,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010791594032901032,-0.005274929811154952,-0.011938765910205507]},{"name":"camera_2","offset_m":[-0.010166902482298932,-0.0009695888451946022,-0.0007078435588242366]},{"name":"camera_3","offset_m":[-0.005812425594100943,0.009102130038545878,-0.013327215575504918]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[5.8484567161484584e-05,-0.0003546063342734192,0.0009316464297509054],"end_effector_yaw_offset_degrees":0.018701746675201525},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006687214985658847,0.0017311583087919187,8.310492362472149e-05],"end_effector_yaw_offset_degrees":-0.8640850069321491},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014259227545296242,-0.0006257479221508362,-0.0011721056592802674],"end_effector_yaw_offset_degrees":-0.8103270275644794}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004895697790370734,-0.0016148585769081938],"position_m":[0.19200430220962925,0.3060851414230918,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004473916364622414,-0.0036348390294197942],"position_m":[0.2482739163646224,-0.3378348390294198,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024478261555241363,-0.00496980782293555],"position_m":[0.2934478261555241,-0.08196980782293554,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004231752717337403,0.003746556674401608],"position_m":[0.3263682472826626,0.0846465566744016,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba5bf4f18537d3a22c2c0ac6da89f85a1cdcf320fc8f170ef963ded8799d406a","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7817/tex_ceiling_textures_8022/tex_floor_textures_2459/tex_table_textures_2690/tex_wall_textures_1958","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7126065109342347122,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7126065109342347122,"visual_seed":7126065109342347122,"scene_id":"lab_003","finished_at":"2026-09-04T09:18:46"}
+{"episode_id":"ep_000049","started_at":"2026-09-04T09:18:49","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.10118241050860088,0.8803585244792589,0.71338606911949],"aabb_xy":[[-0.1651824069359228,0.8331889006571626],[-0.03718241408127897,0.9275281483013554]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.015490947284965584,-1.5091789422200017,0.71338606911949],"aabb_xy":[[-0.0344878612253503,-1.5591789422257203],[0.06546975579528147,-1.4591789422142827]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[-0.394227225470744,-1.0827637412118047,0.71338606911949],"aabb_xy":[[-0.47422722263031925,-1.0943113421696218],[-0.31422722831116867,-1.0712161402539877]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[0.3025581032722654,1.7212876071149226,0.71338606911949],"aabb_xy":[[0.23855810159426805,1.6727702156356081],[0.36655810495026275,1.7698049985942366]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.10591455240550496,0.6119518762904215,0.71338606911949],"aabb_xy":[[-0.13091455157113807,0.6049996305850649],[-0.08091455323987183,0.618904121995778]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[0.3043689964265691,-2.0218705603982507,0.71338606911949],"aabb_xy":[[0.2548885752126103,-2.0858705583111026],[0.3538494176405279,-1.957870562485399]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[-0.45943410096028536,0.2942285648064167,0.71338606911949],"aabb_xy":[[-0.46552872884840374,0.285659170254748],[-0.4533394730721671,0.30279795935808546]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.17184819485336889,-1.941528583883732,0.71338606911949],"aabb_xy":[[0.13434819503633533,-1.9461667951948738],[0.20934819467040244,-1.9368903725725901]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[0.3678030170746531,0.9801062439016923,0.71338606911949],"aabb_xy":[[0.3318895126496634,0.9441927356849377],[0.40371652149964277,1.0160197521184469]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[-0.20792299267861936,-2.2877253671035667,0.71338606911949],"aabb_xy":[[-0.21276658743984933,-2.292577019582551],[-0.20307939791738938,-2.2828737146245826]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[-0.15459265199937722,-0.11590083652375371,0.71338606911949],"aabb_xy":[[-0.23459264940297062,-0.19589340772193647],[-0.07459265459578378,-0.03590826532557088]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[0.3154890783889255,-0.8730934017294878,0.71338606911949],"aabb_xy":[[0.2786944452640192,-0.9099992768260701],[0.35228371151383175,-0.8361875266329055]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[-0.19143690208539332,-2.133489254749822,0.71338606911949],"aabb_xy":[[-0.20158991763954262,-2.169558796322562],[-0.1812838865312439,-2.0974197131770813]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.43929669328449195,-2.166543386131302,0.71338606911949],"aabb_xy":[[-0.44341264339656455,-2.170658941164147],[-0.4351807431724192,-2.162427831098456]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.3470353066736269,-0.4339545302399981,0.71338606911949],"aabb_xy":[[0.339009036043001,-0.44270602521735075],[0.355061577304253,-0.4252030352626455]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.40365786490632916,0.5280369685384723,0.71338606911949],"aabb_xy":[[0.38615786464699264,0.5139454263496998],[0.4211578651656659,0.542128510727245]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[0.07804930207401062,-2.123784429984712,0.71338606911949],"aabb_xy":[[0.00804930026526518,-2.1451381987488993],[0.14804930388275606,-2.1024306612205246]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[-0.37175372212548735,-2.073977213035396,0.71338606911949],"aabb_xy":[[-0.3770912977914919,-2.098977213964536],[-0.3664161464594828,-2.0489772121062564]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[0.3998396716404702,0.3324093549790832,0.71338606911949],"aabb_xy":[[0.3629891237034826,0.29490935415604946],[0.4366902195774578,0.3699093558021169]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[0.5124859424107302,1.1344870993538096,0.71338606911949],"aabb_xy":[[0.4790457672147104,1.1010434735228793],[0.5459261176067496,1.1679307251847395]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[-0.29064180452962785,0.5753533747480586,0.71338606911949],"aabb_xy":[[-0.36064180666105733,0.5525914091223628],[-0.22064180239819825,0.5981153403737541]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.38361910452184167,-0.7428400112098434,0.71338606911949],"aabb_xy":[[-0.4636191031787277,-0.7573448701341063],[-0.30361910586495566,-0.7283351522855808]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[0.30235386794933505,1.2752567544564473,0.71338606911949],"aabb_xy":[[0.25958716106991486,1.2112567510346448],[0.34512057482875524,1.3392567578782497]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.40334069973993114,0.09934089714087024,0.71338606911949],"aabb_xy":[[0.39920484340723095,0.06184089769651324],[0.40747655607263134,0.13684089658522725]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[-0.6356558759747554,0.7318018253056024,0.71338606911949],"aabb_xy":[[-0.670655875104711,0.7260566042299382],[-0.6006558768447997,0.7375470463812664]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[0.5048282365291412,1.5631538167433825,0.71338606911949],"aabb_xy":[[0.4398282364948385,1.5164531400630552],[0.569828236563444,1.6098544934237098]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[-0.24741300701845514,-1.4218955304623098,0.71338606911949],"aabb_xy":[[-0.3374130093524742,-1.4993778850474224],[-0.1574130046844361,-1.344413175877197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6592233374940434,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6678.png","name":"6678"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6678.png","name":"6678"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4839.png","name":"4839"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6049.png","name":"6049"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/124.png","name":"124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1550.png","name":"1550"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":646.9883443853953,"rotation_z_degrees":214.3462957817016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015487176667094076,0.014004749409444819,0.007701879748051345]},{"name":"camera_2","offset_m":[0.018651628666501007,0.015277172472362165,0.004242667294759497]},{"name":"camera_3","offset_m":[-0.01617662519853399,-0.005875082130179874,-0.009656898765764841]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001189128044361731,-0.000519750291288053,-0.001511316292102044],"end_effector_yaw_offset_degrees":0.8492239661172409},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005470677771829578,0.001178166258223303,-0.000519755489571398],"end_effector_yaw_offset_degrees":-0.6795560893981696},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007167598668482401,0.00029990349761827755,-2.3678404193040216e-05],"end_effector_yaw_offset_degrees":0.7999807748596932}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00318042027828063,0.001074526697042947],"position_m":[0.19371957972171935,0.3087745266970429,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011573443625688428,-0.004245821583757119],"position_m":[0.24264265563743115,-0.33844582158375713,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002338768756117108,-0.0005148722778993784],"position_m":[0.2886612312438829,-0.07751487227789938,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013800487178403402,0.004561270953354779],"position_m":[0.33198004871784037,0.08546127095335478,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"57dff15fb396b94f7e9b03d0cfb4d67c8bb35a8ac5db3157df159d9f4d277fc2","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6678/tex_ceiling_textures_1550/tex_floor_textures_124/tex_table_textures_4839/tex_wall_textures_6049","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7990579879139204663,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7990579879139204663,"visual_seed":7990579879139204663,"scene_id":"lab_003","finished_at":"2026-09-04T09:21:52"}
+{"episode_id":"ep_000050","started_at":"2026-09-04T09:21:55","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[0.3830848677724885,-2.350405836457195,0.71338606911949],"aabb_xy":[[0.37658323126448395,-2.3601736584835047],[0.3895865042804932,-2.340638014430885]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.5211346307303508,-1.2106612902832874,0.71338606911949],"aabb_xy":[[-0.5387129329192976,-1.2282357798573922],[-0.5035563285414039,-1.1930868007091826]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[0.5646186098404482,0.850609673832873,0.71338606911949],"aabb_xy":[[0.5469429792518498,0.8329294575534703],[0.5822942404290464,0.8682898901122758]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[-0.26448166624742725,0.5734041223873403,0.71338606911949],"aabb_xy":[[-0.3284816655415954,0.509417982018486],[-0.20048166695325897,0.6373902627561944]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[0.49077816005374064,-0.43966616794879165,0.71338606911949],"aabb_xy":[[0.48436434641055565,-0.44607598819645994],[0.4971919736969255,-0.43325634770112326]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.2305074519788214,1.155339434280437,0.71338606911949],"aabb_xy":[[0.1689166927548286,1.0913394361713904],[0.2920982112028142,1.2193394323894842]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[-0.3567021655232594,-1.8740770651918297,0.71338606911949],"aabb_xy":[[-0.37998400772139074,-1.9590770664890578],[-0.33342032332512805,-1.7890770638946016]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.5607120495282757,-1.4165397868240233,0.71338606911949],"aabb_xy":[[-0.6106949997157549,-1.4665397864665835],[-0.5107290993407962,-1.3665397871814626]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[-0.4917273736825359,0.06761779069647567,0.71338606911949],"aabb_xy":[[-0.5717273708421111,0.05607018973865863],[-0.41172737652296054,0.0791653916542927]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.5425280585211949,-0.904516615705476,0.71338606911949],"aabb_xy":[[-0.6325280621981129,-0.9659490222825803],[-0.4525280548442765,-0.8430842091283716]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.22907371138247168,-1.5393892609390054,0.71338606911949],"aabb_xy":[[0.20657728994860755,-1.5618892607457528],[0.2515701328163358,-1.516889261132258]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[-0.5759211027964128,-1.7436713645463913,0.71338606911949],"aabb_xy":[[-0.6399211019661827,-1.7904380516653537],[-0.5119211036266428,-1.6969046774274288]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.4994031946095028,-1.9134742854179407,0.71338606911949],"aabb_xy":[[-0.507530882802816,-1.9223878938286483],[-0.49127550641618956,-1.9045606770072327]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[0.10193553603465622,-2.1334607367204956,0.71338606911949],"aabb_xy":[[0.046942324697519466,-2.1884607370592892],[0.15692874737179296,-2.078460736381702]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[-0.45018992673282054,0.931421754312896,0.71338606911949],"aabb_xy":[[-0.45745117430322796,0.9186347440493866],[-0.44292867916241313,0.9442087645764056]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[0.2647175711606561,-0.4785522124538555,0.71338606911949],"aabb_xy":[[0.22971757118416025,-0.48801682850147216],[0.2997175711371519,-0.4690875964062389]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[0.5377538654069489,1.653647846273579,0.71338606911949],"aabb_xy":[[0.4955694512461183,1.5896478459963679],[0.5799382795677798,1.7176478465507903]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.5326578503316751,1.588995218462546,0.71338606911949],"aabb_xy":[[-0.5517701576896539,1.5698604395853037],[-0.5135455429736961,1.6081299973397878]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.08560501893375672,-1.9009751956821808,0.71338606911949],"aabb_xy":[[-0.004394979660713227,-1.9172257819956018],[0.17560501752822666,-1.8847246093687597]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[0.46178157624025773,1.2657564194094837,0.71338606911949],"aabb_xy":[[0.4242815758920299,1.2539650238284],[0.49928157658848543,1.277547814990567]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.3601561942999676,0.49064775254177206,0.71338606911949],"aabb_xy":[[0.35144222525003305,0.46814775188258373],[0.368870163349902,0.5131477532009601]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.34531942825486306,-1.0465008584463864,0.71338606911949],"aabb_xy":[[0.3078194281492701,-1.0533230202993673],[0.382819428360456,-1.039678696593405]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[-0.05450886885741535,-0.9632164423956635,0.71338606911949],"aabb_xy":[[-0.1445088685805895,-0.9862897949308433],[0.03549113086575883,-0.9401430898604837]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[0.6230908960590962,-0.40407566794716976,0.71338606911949],"aabb_xy":[[0.5393686705590138,-0.4940756714818657],[0.7068131215591787,-0.3140756644124738]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.5450786276016251,-0.7776560370909729,0.71338606911949],"aabb_xy":[[0.45507863086601485,-0.8308395004082673],[0.6350786243372353,-0.7244725737736782]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_25","position":[-0.18512254766002378,-1.5373032592628142,0.71338606911949],"aabb_xy":[[-0.24912254793400201,-1.5873693594601024],[-0.12112254738604555,-1.4872371590655264]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6565351820621014,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2073.png","name":"2073"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2073.png","name":"2073"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/917.png","name":"917"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3176.png","name":"3176"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9470.png","name":"9470"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4820.png","name":"4820"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":763.7498702632454,"rotation_z_degrees":177.82608376680687,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009010028224880107,-0.008170163943060084,0.00875413630565084]},{"name":"camera_2","offset_m":[-0.012755592742160956,0.015021042848999095,-0.0007145051833258413]},{"name":"camera_3","offset_m":[0.017365961156961412,-0.017197003873079174,-0.0173490604927243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008794634793375974,0.0004926308038037987,-0.001162281978005638],"end_effector_yaw_offset_degrees":-0.11719356984977036},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008047022634219481,-0.0019773717153277965,0.0016801756022333625],"end_effector_yaw_offset_degrees":0.17437805395850892},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001137764777564331,0.001303335115104155,2.847580388058192e-05],"end_effector_yaw_offset_degrees":0.3052517992542729}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004437468137939957,0.002773970306906023],"position_m":[0.19246253186206003,0.310473970306906,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002501345903836113,-0.0012511494681846382],"position_m":[0.24129865409616388,-0.33545114946818466,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014864659740277944,-0.004805517701143358],"position_m":[0.2924864659740278,-0.08180551770114336,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008701917541378392,-0.0035052520894979333],"position_m":[0.3297298082458622,0.07739474791050206,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"32af59940533845e8147cd5747a9f11acef0f12d607755baaa51ce55ac7b2cdc","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0050.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2073/tex_ceiling_textures_4820/tex_floor_textures_9470/tex_table_textures_917/tex_wall_textures_3176","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2617534399039303782,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2617534399039303782,"visual_seed":2617534399039303782,"scene_id":"lab_003","finished_at":"2026-09-04T09:24:49"}
+{"episode_id":"ep_000051","started_at":"2026-09-04T09:24:52","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[0.4338843927151059,-0.8475805068072022,0.71338606911949],"aabb_xy":[[0.3840676132502712,-0.8975805052915055],[0.48370117217994074,-0.7975805083228987]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[0.5363914950123227,1.414139515159777,0.71338606911949],"aabb_xy":[[0.4663914923757364,1.3940346501639114],[0.6063914976489091,1.4342443801556424]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.3028587994989869,1.5015088571902964,0.71338606911949],"aabb_xy":[[-0.35285879893918254,1.45154093270598],[-0.2528588000587913,1.5514767816746127]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.12844673062487,-0.5685524002349895,0.71338606911949],"aabb_xy":[[-0.13494836713287464,-0.5783202222612993],[-0.12194509411686541,-0.5587845782086798]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[0.05654759894529149,-1.644378480751887,0.71338606911949],"aabb_xy":[[0.01904759912825793,-1.649016692063029],[0.09404759876232505,-1.6397402694407452]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.4629807623872826,1.1148346546438686,0.71338606911949],"aabb_xy":[[0.3989807638007101,1.0678276912443598],[0.526980760973855,1.1618416180433773]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.1549371154553595,-0.13796206388140275,0.71338606911949],"aabb_xy":[[-0.2049213511635367,-0.18796206269489835],[-0.10495287974718226,-0.08796206506790716]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[-0.14899402123985728,0.9641765960313844,0.71338606911949],"aabb_xy":[[-0.18649402141172922,0.9314758606484771],[-0.11149402106798534,0.9968773314142915]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.2148838178088472,-1.919872728904373,0.71338606911949],"aabb_xy":[[-0.23616182595231938,-1.9848727312304462],[-0.19360580966537488,-1.8548727265783]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[-0.03263842775557524,-1.1001465362040876,0.71338606911949],"aabb_xy":[[-0.0380963733925953,-1.1801465395117465],[-0.027180482118555165,-1.0201465328964283]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.291143175118302,0.3058394448071464,0.71338606911949],"aabb_xy":[[-0.3211107320281277,0.2758394445092607],[-0.26117561820847635,0.33583944510503216]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[-0.5989257010408607,-0.9498977992460118,0.71338606911949],"aabb_xy":[[-0.6488989950441212,-0.9998977998005592],[-0.5489524070376003,-0.8998977986914645]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[0.4562113297793311,-1.9131349960248363,0.71338606911949],"aabb_xy":[[0.43371490834546705,-1.9356349958315837],[0.47870775121319525,-1.8906349962180888]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[-0.43053920876705754,-1.963809363097412,0.71338606911949],"aabb_xy":[[-0.4673338418919638,-2.000715238193994],[-0.39374457564215126,-1.9269034880008296]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.2611193317479466,1.2128955232112908,0.71338606911949],"aabb_xy":[[-0.27861933199299593,1.1953957353717237],[-0.2436193315028972,1.2303953110508574]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.4330156586847597,0.8415604089961146,0.71338606911949],"aabb_xy":[[-0.4378592534459897,0.8367087565171305],[-0.42817206392352974,0.8464120614750987]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[0.6030057284008337,0.03758956718635709,0.71338606911949],"aabb_xy":[[0.5895592017667904,0.024119715533265862],[0.6164522550348771,0.05105941883944831]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.6904395116713751,-1.7940075382894847,0.71338606911949],"aabb_xy":[[0.66797474169997,-1.8165075391683452],[0.7129042816427802,-1.7715075374106242]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[-0.6278123012679854,-0.5772087317642405,0.71338606911949],"aabb_xy":[[-0.6653123020599808,-0.5835765727224305],[-0.5903123004759899,-0.5708408908060503]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.10694405781178606,-1.7039858749708143,0.71338606911949],"aabb_xy":[[0.02694405915490007,-1.718490733895077],[0.18694405646867207,-1.6894810160465512]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.6206137983276314,-0.4491880785170146,0.71338606911949],"aabb_xy":[[-0.6856138009654249,-0.5006676772164615],[-0.5556137956898379,-0.3977084798175677]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[-0.6171120286413297,-2.20411395065346,0.71338606911949],"aabb_xy":[[-0.6302632746126191,-2.2291139504101465],[-0.6039607826700404,-2.1791139508967734]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6590456972917021,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1561.png","name":"1561"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1561.png","name":"1561"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3970.png","name":"3970"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8040.png","name":"8040"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4116.png","name":"4116"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4133.png","name":"4133"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":801.7716366078201,"rotation_z_degrees":118.5342804407463,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018044085857895523,-0.015139017952883381,0.011972660102068464]},{"name":"camera_2","offset_m":[0.018954600563551163,0.0022688653129353704,-0.0039031747990960486]},{"name":"camera_3","offset_m":[-0.009653685009341762,0.004231189962702997,-0.016842029728322466]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011737376413063388,-0.0006369020412065524,-0.0009586826371062133],"end_effector_yaw_offset_degrees":0.45515610379269167},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007489370158410076,-0.0018592106697716381,0.0013613815920853257],"end_effector_yaw_offset_degrees":0.2767652753248584},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00028849883529013425,0.001060192909167916,-0.000919174554885763],"end_effector_yaw_offset_degrees":0.6435858213067576}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002405050296322757,-0.004731774573985059],"position_m":[0.19930505029632276,0.3029682254260149,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[5.832224787744814e-05,-0.0018573366852092797],"position_m":[0.24385832224787743,-0.33605733668520926,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003328596983135256,0.003911482433574654],"position_m":[0.2876714030168647,-0.07308851756642534,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010124076553061885,-0.0001433548318694397],"position_m":[0.3295875923446938,0.08075664516813055,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0968513ad5070ebaf7f6438f693231585cfa773693d282cb3a1e371d7215683","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0051.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1561/tex_ceiling_textures_4133/tex_floor_textures_4116/tex_table_textures_3970/tex_wall_textures_8040","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4250679004995667109,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4250679004995667109,"visual_seed":4250679004995667109,"scene_id":"lab_003","finished_at":"2026-09-04T09:27:55"}
+{"episode_id":"ep_000052","started_at":"2026-09-04T09:27:58","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.012382628420750441,0.7413433353338856,0.71338606911949],"aabb_xy":[[-0.06237746134869204,0.691343336438642],[0.03761220450719116,0.7913433342291291]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[-0.4459086622026993,-2.246674356921914,0.71338606911949],"aabb_xy":[[-0.45403635039601253,-2.255587965332622],[-0.4377809740093861,-2.2377607485112065]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.22151273184006637,0.5872284496877134,0.71338606911949],"aabb_xy":[[0.21554619289933058,0.5812673050283492],[0.22747927078080216,0.5931895943470773]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[-0.13742967384491767,1.704192382976681,0.71338606911949],"aabb_xy":[[-0.14542366242262103,1.6961923028815904],[-0.12943568526721425,1.712192463071771]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.151404317608549,-0.5595062038969343,0.71338606911949],"aabb_xy":[[0.1313459059953087,-0.5795712908060918],[0.1714627292217893,-0.5394411169877767]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[0.19923161106178344,-1.245241872234977,0.71338606911949],"aabb_xy":[[0.129231609253038,-1.2665956409991643],[0.2692316128705289,-1.2238881034707896]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[0.14798029583846428,-1.4688189749891516,0.71338606911949],"aabb_xy":[[0.12298029667283117,-1.4757712206945082],[0.1729802950040974,-1.461866729283795]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[-0.5251773205331557,-0.9337441718567197,0.71338606911949],"aabb_xy":[[-0.545068360413496,-0.9463999831414166],[-0.5052862806528156,-0.9210883605720229]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.11426837796198042,-1.4560907870713753,0.71338606911949],"aabb_xy":[[-0.13033030542049803,-1.541090788883967],[-0.09820645050346276,-1.3710907852587835]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[0.3734002206329907,1.6371553717634328,0.71338606911949],"aabb_xy":[[0.2934002220456713,1.5578397698252715],[0.45340021922031015,1.7164709737015933]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[0.03833089584856686,-2.4567591139352483,0.71338606911949],"aabb_xy":[[-0.016662315488569893,-2.5117591142740414],[0.09332410718570362,-2.401759113596454]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.22297911565244105,0.6821389219344374,0.71338606911949],"aabb_xy":[[-0.2300205666031887,0.6751121701966428],[-0.2159376647016935,0.6891656736722319]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[-0.6170516821311851,-1.0617226330800815,0.71338606911949],"aabb_xy":[[-0.6810516828346546,-1.1077410155530025],[-0.5530516814277159,-1.0157042506071605]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.05986378913086865,1.152612943110027,0.71338606911949],"aabb_xy":[[0.022363790555247853,1.1398766474464688],[0.09736378770648946,1.1653492387735847]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.18795319516077602,-0.3158667182326651,0.71338606911949],"aabb_xy":[[-0.20706550251875486,-0.3350014971099071],[-0.16884088780279713,-0.2967319393554231]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[-0.5280698385388116,-0.03858047401635689,0.71338606911949],"aabb_xy":[[-0.5930698394959387,-0.09052868595006247],[-0.46306983758168435,0.013367737917348679]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.6661859558567789,0.694557268624989,0.71338606911949],"aabb_xy":[[0.6286859543411472,0.683330495608844],[0.7036859573724106,0.7057840416411341]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[-0.2687675811521143,0.25934392902952563,0.71338606911949],"aabb_xy":[[-0.3037675802820699,0.25359870795386147],[-0.23376758202215858,0.2650891501051897]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[-0.10773967413720242,-1.2654012651266326,0.71338606911949],"aabb_xy":[[-0.16273967233894723,-1.30592323175307],[-0.05273967593545758,-1.2248792985001948]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.09121411031944593,-0.8700094993645731,0.71338606911949],"aabb_xy":[[0.0012141109010750245,-0.9033849962087628],[0.18121410973781682,-0.8366340025203833]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.44661862313008993,-0.23454341236334386,0.71338606911949],"aabb_xy":[[0.4379046540801554,-0.25704341302253203],[0.45533259218002436,-0.2120434117041556]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[0.6516274752636961,-1.4047233930829612,0.71338606911949],"aabb_xy":[[0.5916274746676798,-1.4595358656281847],[0.7116274758597122,-1.3499109205377378]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[0.22025451893582904,-2.1430434375790823,0.71338606911949],"aabb_xy":[[0.13653229343574658,-2.2330434411137783],[0.3039767444359115,-2.0530434340443864]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[0.43332871181552224,-1.3171796343955762,0.71338606911949],"aabb_xy":[[0.42086135370578653,-1.3296449590289],[0.44579606992525783,-1.3047143097622529]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[0.5510200859589014,-0.8917482658210101,0.71338606911949],"aabb_xy":[[0.5010200865187057,-0.9417161903053264],[0.6010200853990969,-0.8417803413366938]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[-0.5319884587086692,-2.176316738788317,0.71338606911949],"aabb_xy":[[-0.5407905140176418,-2.184128064943246],[-0.5231864033996964,-2.168505412633388]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[0.2105174489960996,-1.0054807048196375,0.71338606911949],"aabb_xy":[[0.18760173611104974,-1.0283850019560612],[0.23343316188114954,-0.9825764076832142]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627734870201912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7107.png","name":"7107"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7107.png","name":"7107"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3810.png","name":"3810"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9145.png","name":"9145"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8765.png","name":"8765"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6182.png","name":"6182"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":757.4039853072555,"rotation_z_degrees":289.9848035917063,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010247505363083232,0.0062739501082613135,-0.00037429348873276036]},{"name":"camera_2","offset_m":[9.041903809788032e-05,-0.019421835704553886,-0.01876858727905482]},{"name":"camera_3","offset_m":[-0.009600617019128977,-0.009165586657493514,0.01027458005434271]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017813993438801354,0.0008160878173515975,0.0005844893479049181],"end_effector_yaw_offset_degrees":0.7866298583287483},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008619010742139692,0.0015996512473693569,-0.0010461453971378596],"end_effector_yaw_offset_degrees":0.7318329424317038},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00019236365889380028,-0.001565142777791902,0.0013314427740336475],"end_effector_yaw_offset_degrees":-0.038906349334274504}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003692883736996573,0.003022358738395867],"position_m":[0.1932071162630034,0.3107223587383958,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004985488249600048,-0.0008389396994563838],"position_m":[0.24878548824960003,-0.33503893969945636,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002896749285173919,0.0010769118091163935],"position_m":[0.2938967492851739,-0.0759230881908836,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038536746936179023,-0.00043817247168453574],"position_m":[0.3267463253063821,0.08046182752831546,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"886ddcfe6faa9cadf215f3e48c18b05f91470f404ff1c325e64e74c826c842bb","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7107/tex_ceiling_textures_6182/tex_floor_textures_8765/tex_table_textures_3810/tex_wall_textures_9145","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6984554582340147566,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6984554582340147566,"visual_seed":6984554582340147566,"scene_id":"lab_003","finished_at":"2026-09-04T09:31:01"}
+{"episode_id":"ep_000053","started_at":"2026-09-04T09:31:06","dimensions":{"distractor":{"count":22,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.6049834210174785,-1.6366071283270174,0.71338606911949],"aabb_xy":[[-0.6178553245184186,-1.7166071287408535],[-0.5921115175165383,-1.5566071279131812]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[0.37774838715635894,-2.0601493693856208,0.71338606911949],"aabb_xy":[[0.36007275656776055,-2.077829585665023],[0.3954240177449572,-2.0424691531062176]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[0.4540939248355078,0.46723585974979365,0.71338606911949],"aabb_xy":[[0.3740939262481883,0.3879202578116327],[0.5340939234228271,0.5465514616879544]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.0634972145400805,0.5322000231757538,0.71338606911949],"aabb_xy":[[-0.10568162870091126,0.46820002289854257],[-0.021312800379249777,0.596200023452965]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.5045973001751551,-0.4591418754257335,0.71338606911949],"aabb_xy":[[-0.5459018432388911,-0.5231418749938506],[-0.46329275711141915,-0.3951418758576164]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.5904916689627431,-2.1536576513563603,0.71338606911949],"aabb_xy":[[-0.6704916659769911,-2.1737922030297714],[-0.5104916719484951,-2.1335230996829493]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.07600044046582743,-1.1899095345385882,0.71338606911949],"aabb_xy":[[-0.10384547724643456,-1.2206940332768998],[-0.04815540368522031,-1.1591250358002765]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.4078709744586313,1.583216377022095,0.71338606911949],"aabb_xy":[[-0.41515329083529484,1.4932163734125856],[-0.40058865808196753,1.6732163806316036]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.675290000826073,-1.4477101960682213,0.71338606911949],"aabb_xy":[[-0.6927899342600563,-1.4652101959884558],[-0.6577900673920896,-1.4302101961479867]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[-0.6062337831078861,0.17963144601742043,0.71338606911949],"aabb_xy":[[-0.6862337845380133,0.10011429100481098],[-0.5262337816777589,0.2591486010300299]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[0.5504576727833821,-0.05393707877480969,0.71338606911949],"aabb_xy":[[0.5378308854961856,-0.06348315247638259],[0.5630844600705783,-0.04439100507323679]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.18115233159741373,0.7639684140020075,0.71338606911949],"aabb_xy":[[-0.19721425905593137,0.6789684121894157],[-0.16509040413889609,0.8489684158145994]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.25596323328376075,-0.6698958322935298,0.71338606911949],"aabb_xy":[[-0.26673620720512853,-0.7048958305125689],[-0.24519025936239297,-0.6348958340744909]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[-0.258166262869342,-1.243005751869635,0.71338606911949],"aabb_xy":[[-0.3221662647816844,-1.2989169011276456],[-0.19416626095699974,-1.1870946026116247]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[0.3810365332869221,1.3763616341335605,0.71338606911949],"aabb_xy":[[0.35812082040187226,1.3534573369971372],[0.4039522461719721,1.3992659312699842]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[-0.6603711380753814,-2.2463039429382343,0.71338606911949],"aabb_xy":[[-0.664449295982431,-2.250384923186498],[-0.6562929801683316,-2.2422229626899717]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[0.2024053986008979,-2.2775424429243216,0.71338606911949],"aabb_xy":[[0.13240539520933592,-2.3128582166277525],[0.2724054019924599,-2.2422266692208908]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[-0.001921304369187915,-1.3302062927520462,0.71338606911949],"aabb_xy":[[-0.019421304628524542,-1.3442978349408188],[0.015578695890148712,-1.3161147505632735]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.2778152236099785,1.7984417685249627,0.71338606911949],"aabb_xy":[[-0.3128152218800984,1.7913676408299746],[-0.2428152253398586,1.805515896219951]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.05906426886010718,0.7601215067447051,0.71338606911949],"aabb_xy":[[-0.06503080780084297,0.7541603620853412],[-0.05309772991937139,0.7660826514040693]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.6375865852115947,-2.3548482804041884,0.71338606911949],"aabb_xy":[[0.5538643597115123,-2.4448482839388843],[0.7213088107116772,-2.2648482768694924]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[0.49989542724855496,-1.2696028498836973,0.71338606911949],"aabb_xy":[[0.4823954270035055,-1.287102637723264],[0.5173954274936042,-1.2521030620441302]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6568223662135685,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1185.png","name":"1185"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1185.png","name":"1185"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6859.png","name":"6859"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5703.png","name":"5703"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7350.png","name":"7350"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/140.png","name":"140"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":574.4263034480003,"rotation_z_degrees":163.11050490570483,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015130431366551442,-0.01782325382991375,-0.019912105716764758]},{"name":"camera_2","offset_m":[-0.011040901329725279,-0.004566869044997524,0.007554166180771076]},{"name":"camera_3","offset_m":[-0.009590067112465427,-0.015965360149407633,0.005416838340251494]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005624743185861604,-0.0007212562282281065,-0.0012893298463206367],"end_effector_yaw_offset_degrees":0.4802683515399553},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.698490027755451e-05,0.0018382045863466817,-0.0008085479200031639],"end_effector_yaw_offset_degrees":-0.6813359733414541},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018790560516257497,-9.786474672667596e-05,7.81688093861115e-05],"end_effector_yaw_offset_degrees":-0.5572602149629728}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005583997446121257,0.0011123898829292133],"position_m":[0.19745839974461213,0.3088123898829292,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007178551329016514,0.0036538369807983242],"position_m":[0.24451785513290164,-0.3305461630192017,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001618327560804089,0.00018647009305645685],"position_m":[0.2926183275608041,-0.07681352990694354,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003838545259234399,0.000417774665300177],"position_m":[0.3344385452592344,0.08131777466530017,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e035d764840a16d1f62f7c511057e9f1e89072d38d3c4413a6901d36bd6433ff","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1185/tex_ceiling_textures_140/tex_floor_textures_7350/tex_table_textures_6859/tex_wall_textures_5703","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2830687961087350768,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2830687961087350768,"visual_seed":2830687961087350768,"scene_id":"lab_003","finished_at":"2026-09-04T09:33:57"}
+{"episode_id":"ep_000054","started_at":"2026-09-04T09:34:01","dimensions":{"distractor":{"count":28,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[0.24170344845221048,-1.3942192356284722,0.71338606911949],"aabb_xy":[[0.152016372144095,-1.4842192358829227],[0.33139052476032593,-1.3042192353740216]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.051236182644626704,-1.2270221601589644,0.71338606911949],"aabb_xy":[[-0.05927954257058188,-1.3120221612543306],[-0.04319282271867153,-1.1420221590635977]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[0.6643108869865257,-0.6024481785097884,0.71338606911949],"aabb_xy":[[0.6144281901088295,-0.6524481777560631],[0.7141935838642219,-0.5524481792635136]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.1939059641385601,-1.794939132704042,0.71338606911949],"aabb_xy":[[-0.2032529717208553,-1.809242754921686],[-0.18455895655626484,-1.780635510486398]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.6697315442717708,-1.524926158334133,0.71338606911949],"aabb_xy":[[0.6623190887303823,-1.5307773687557609],[0.6771439998131592,-1.519074947912505]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[-0.22039134300144542,1.2574202413273863,0.71338606911949],"aabb_xy":[[-0.27039134428528533,1.207441386936764],[-0.17039134171760542,1.3073990957180082]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[0.0398808001608143,1.5917529900423033,0.71338606911949],"aabb_xy":[[-0.024119196234758777,1.5277897016235698],[0.10388079655638738,1.6557162784610369]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.1350963370077244,-1.7981836901506631,0.71338606911949],"aabb_xy":[[0.055096339026939355,-1.8057852311125149],[0.21509633498850944,-1.790582149188811]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.5178932788139535,0.5534597938901538,0.71338606911949],"aabb_xy":[[-0.5279749858925269,0.4734597959980391],[-0.5078115717353799,0.6334597917822684]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.44497737518234665,0.20608716204614597,0.71338606911949],"aabb_xy":[[-0.5099773761828472,0.15530079689147103],[-0.37997737418184613,0.2568735272008209]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.17702416771106366,-0.7799168113487871,0.71338606911949],"aabb_xy":[[0.1220504456747308,-0.8349168109130203],[0.23199788974739657,-0.7249168117845539]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.1719332900670767,0.342640282295843,0.71338606911949],"aabb_xy":[[-0.1789736000006137,0.2626402828961716],[-0.1648929801335397,0.42264028169551443]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.21765336261236923,1.7387032798877482,0.71338606911949],"aabb_xy":[[0.1576533617515564,1.6872768498812618],[0.277653363473182,1.7901297098942346]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[-2.9971061516365083e-05,-0.6973854499750876,0.71338606911949],"aabb_xy":[[-0.05502318239865313,-0.7523854503138814],[0.0549632402756204,-0.6423854496362941]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.28084137008725973,-0.4122785943071867,0.71338606911949],"aabb_xy":[[-0.3408413706832759,-0.4670910668524102],[-0.22084136949124356,-0.35746612176196324]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.5256962588667982,1.6158954258397729,0.71338606911949],"aabb_xy":[[0.4922560836707785,1.5824518000088426],[0.5591364340628177,1.6493390516707027]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.6111134909218998,-0.4619412548497617,0.71338606911949],"aabb_xy":[[-0.6751134931423068,-0.50631433897505],[-0.5471134887014928,-0.41756817072447333]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[0.42745826638646944,1.3449676649184568,0.71338606911949],"aabb_xy":[[0.3774582660259033,1.2949876777088538],[0.47745826674703545,1.3949476521280597]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[-0.362677246604197,1.0828189022476629,0.71338606911949],"aabb_xy":[[-0.40017724811982874,1.0715921292315178],[-0.3251772450885653,1.094045675263808]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.46398968366053794,-1.3302917726193755,0.71338606911949],"aabb_xy":[[0.4595590543056977,-1.335740144354058],[0.46842031301537806,-1.324843400884693]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[0.0029599699962695736,-2.4019610723501694,0.71338606911949],"aabb_xy":[[-0.06104002643105233,-2.4491306961722663],[0.06695996642359148,-2.3547914485280734]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[-0.3133156013905846,-2.03718690186112,0.71338606911949],"aabb_xy":[[-0.3733156018984375,-2.094033635547041],[-0.25331560088273164,-1.9803401681751986]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[0.35022389367103557,0.5440630265123616,0.71338606911949],"aabb_xy":[[0.28622389339705734,0.49399692631507375],[0.4142238939450138,0.5941291267096497]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[-0.4529867410771076,-1.4781871914862776,0.71338606911949],"aabb_xy":[[-0.4633982997575912,-1.4835329248221756],[-0.4425751823966238,-1.4728414581503788]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_24","position":[0.6055751703524936,-2.232769242292339,0.71338606911949],"aabb_xy":[[0.598533719401746,-2.2397959940301333],[0.6126166213032412,-2.2257424905545444]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[0.15947659018376492,0.6033153129933804,0.71338606911949],"aabb_xy":[[0.08947658805233535,0.5805533473676846],[0.22947659231519443,0.6260772786190759]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[0.6901753799868835,1.1926847280015176,0.71338606911949],"aabb_xy":[[0.6824721893128065,1.1849753573027795],[0.6978785706609605,1.2003940987002557]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_27","position":[0.3632544869877128,-1.07358492982368,0.71338606911949],"aabb_xy":[[0.31377406577375405,-1.1375849277365317],[0.41273490820167164,-1.009584931910828]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6632133891419308,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/444.png","name":"444"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/444.png","name":"444"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4262.png","name":"4262"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4519.png","name":"4519"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6773.png","name":"6773"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8769.png","name":"8769"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":504.80778752348465,"rotation_z_degrees":97.40210240040813,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006529133270593479,0.0011693174150896636,0.012717028512404503]},{"name":"camera_2","offset_m":[-0.0014376398266883299,0.018366514386964215,0.003912019606906587]},{"name":"camera_3","offset_m":[-0.001328846737386747,0.017604658917246722,0.001597738410254304]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008729550675345094,0.0019612413137694877,0.00018843216917966126],"end_effector_yaw_offset_degrees":-0.45451405106810294},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004922101197287723,-0.0011439805704975634,-0.00024277705637382099],"end_effector_yaw_offset_degrees":0.6879521531987673},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001003335226587443,-0.000607579180127603,-0.001850761094900411],"end_effector_yaw_offset_degrees":-0.7581805280331162}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032249633215855767,0.0009690794543369243],"position_m":[0.1936750366784144,0.3086690794543369,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003253116733059715,-0.004640151360288981],"position_m":[0.2470531167330597,-0.338840151360289,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028980588887010605,-0.002814106118582822],"position_m":[0.28810194111129894,-0.07981410611858282,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021271969457146633,-0.0009172960010493938],"position_m":[0.3327271969457147,0.0799827039989506,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9eef8f0c81fa32b469297c771868e44f18c9a1dad62c4607af066b790290adf6","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0054.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_444/tex_ceiling_textures_8769/tex_floor_textures_6773/tex_table_textures_4262/tex_wall_textures_4519","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6144441816889226571,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6144441816889226571,"visual_seed":6144441816889226571,"scene_id":"lab_003","finished_at":"2026-09-04T09:36:58"}
+{"episode_id":"ep_000055","started_at":"2026-09-04T09:37:03","dimensions":{"distractor":{"count":33,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[0.6169406081386504,0.735690103404214,0.71338606911949],"aabb_xy":[[0.6037893621673611,0.7106901036475276],[0.6300918541099398,0.7606901031609008]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[-0.25506259481611004,-0.44202082475466353,0.71338606911949],"aabb_xy":[[-0.3190625962241007,-0.4938097762785882],[-0.1910625934081194,-0.39023187323073877]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.01782587101751576,1.5791253796337625,0.71338606911949],"aabb_xy":[[-4.323673693973004e-05,1.5652924716565517],[0.03569497877197125,1.5929582876109738]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[-0.3783575109256623,0.7473427769027396,0.71338606911949],"aabb_xy":[[-0.38278814028050245,0.741894405168057],[-0.3739268815708221,0.7527911486374222]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[0.02690918703334577,0.8651274552010118,0.71338606911949],"aabb_xy":[[-0.05681303846673669,0.7751274516663158],[0.11063141253342823,0.9551274587357077]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.43521037826051456,1.1149603359411642,0.71338606911949],"aabb_xy":[[0.37121038114840893,1.0659279661467533],[0.4992103753726203,1.1639927057355746]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[0.48833772527993924,0.8334993238346322,0.71338606911949],"aabb_xy":[[0.4801231801642552,0.8248227335369908],[0.49655227039562316,0.8421759141322734]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.47295784067762614,1.3289138525363673,0.71338606911949],"aabb_xy":[[-0.5279578388793709,1.2883918859099293],[-0.41795784247588125,1.3694358191628044]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[-0.42661369938677796,-0.15394568956092458,0.71338606911949],"aabb_xy":[[-0.43590731762392854,-0.19144568804905845],[-0.4173200811496274,-0.11644569107279065]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[0.5737863758827213,-0.5607861471387716,0.71338606911949],"aabb_xy":[[0.5579018826173961,-0.5751390874375956],[0.5896708691480465,-0.5464332068399474]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.21238067544047723,0.575077040580763,0.71338606911949],"aabb_xy":[[-0.24988067386387758,0.5619128266129323],[-0.17488067701707688,0.5882412545485936]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.6134712411606336,0.6218807028330215,0.71338606911949],"aabb_xy":[[-0.6584712426268625,0.576880845971541],[-0.5684712396944048,0.6668805596945023]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.2292669923696536,-0.7993768085571651,0.71338606911949],"aabb_xy":[[-0.23967855105013725,-0.8047225418930635],[-0.21885543368916982,-0.7940310752212665]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[0.03924877295614859,-1.2075454408361748,0.71338606911949],"aabb_xy":[[-0.02075122755170433,-1.2643921745220958],[0.0992487734640015,-1.1506987071502532]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.14995536243212837,0.027925516965313868,0.71338606911949],"aabb_xy":[[-0.21995536456355788,0.005163551339618211],[-0.0799553603006988,0.050687482591009525]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[0.2904983843076452,1.686721497499287,0.71338606911949],"aabb_xy":[[0.23550517297050844,1.6317214971604934],[0.34549159564478193,1.7417214978380806]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[0.45079060315600494,1.5491690185557823,0.71338606911949],"aabb_xy":[[0.3967750068741049,1.4851690156635249],[0.504806199437905,1.6131690214480392]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[0.050363335090679584,-2.2009587438343505,0.71338606911949],"aabb_xy":[[-0.013632362304417008,-2.264958742135059],[0.11435903248577617,-2.136958745533642]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[-0.12418047587524117,1.6084501818403694,0.71338606911949],"aabb_xy":[[-0.1881804775532385,1.559932790361055],[-0.06018047419724379,1.6569675733196834]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[0.2724854238981216,-2.3093830021285755,0.71338606911949],"aabb_xy":[[0.23498542310612613,-2.3157508430867657],[0.30998542469011703,-2.3030151611703853]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[-0.6783828937108366,-1.8625460864807353,0.71338606911949],"aabb_xy":[[-0.6930262992648695,-1.8772048061375193],[-0.6637394881568035,-1.8478873668239508]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[-0.38284212443775806,1.4877375289581232,0.71338606911949],"aabb_xy":[[-0.40475080657710905,1.4658368621380324],[-0.36093344229840696,1.509638195778214]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.45481561441250895,1.1355769627186443,0.71338606911949],"aabb_xy":[[-0.544815616746528,1.0580946081335316],[-0.3648156120784899,1.213059317303757]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[0.3853458682291926,0.5620156790879021,0.71338606911949],"aabb_xy":[[0.3628494467953285,0.5395156792811546],[0.4078422896630567,0.5845156788946495]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_24","position":[0.07161537108610339,-1.7907474855898746,0.71338606911949],"aabb_xy":[[0.016490165456512603,-1.8507474870311618],[0.12674057671569414,-1.7307474841485875]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[-0.10199493404161863,0.5195238551952568,0.71338606911949],"aabb_xy":[[-0.13445663492354604,0.4893910230803541],[-0.06953323315969115,0.5496566873101593]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_26","position":[-0.6480286391015778,-0.4925054280749137,0.71338606911949],"aabb_xy":[[-0.6556529071917561,-0.5001386516114575],[-0.6404043710113996,-0.4848722045383701]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[-0.5909780963267399,-1.2685300259015972,0.71338606911949],"aabb_xy":[[-0.670978099590753,-1.2820900582105104],[-0.5109780930627268,-1.2549699935926837]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_28","position":[-0.13928782620368074,-1.6065370652035158,0.71338606911949],"aabb_xy":[[-0.17520133062867044,-1.6424505734202701],[-0.10337432177869106,-1.570623556986761]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_29","position":[0.43858243464585533,0.7527904383798973,0.71338606911949],"aabb_xy":[[0.36858243823589343,0.7323525027282155],[0.5085824310558169,0.773228374031579]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_30","position":[0.1165491965461275,-1.3643291160657014,0.71338606911949],"aabb_xy":[[0.10855520796842409,-1.3723291961607917],[0.12454318512383088,-1.356329035970611]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_31","position":[-0.26048211490959455,0.45184147671469876,0.71338606911949],"aabb_xy":[[-0.3204821151609957,0.3975601516782341],[-0.20048211465819332,0.5061228017511634]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_32","position":[-0.5838491480280174,1.431312624743669,0.71338606911949],"aabb_xy":[[-0.6063491478419197,1.4268380083731882],[-0.561349148214115,1.4357872411141497]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561618295350476,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6555.png","name":"6555"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6555.png","name":"6555"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6230.png","name":"6230"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9825.png","name":"9825"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8617.png","name":"8617"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5769.png","name":"5769"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":822.8844922301025,"rotation_z_degrees":166.07589660986827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01768510239080397,-0.012605555693926726,-0.005606026799871185]},{"name":"camera_2","offset_m":[-0.01683052602800077,-0.001802246822292873,0.010362284822428545]},{"name":"camera_3","offset_m":[-0.008759257405822068,0.004139379140258404,0.012351902680785395]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016760771501768015,0.0009501427926630521,-0.0016639122048270555],"end_effector_yaw_offset_degrees":-0.8366378813257451},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001837552613423769,-0.0009033898870802976,-0.0018966482122131706],"end_effector_yaw_offset_degrees":0.03805520086334213},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007051301917283858,-0.001431611037997826,-0.0005748238736371532],"end_effector_yaw_offset_degrees":-0.3332382693830105}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004662698903084862,0.002946510897293854],"position_m":[0.19223730109691514,0.31064651089729384,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00011329372876562206,0.003539615511311783],"position_m":[0.24368670627123437,-0.33066038448868823,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003724705290118531,0.00035673933714537066],"position_m":[0.28727529470988145,-0.07664326066285462,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003972003091243023,-0.0032817665619390693],"position_m":[0.326627996908757,0.07761823343806093,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1039fa510e6ea8605e0d77d1aa5d158f413a65e8cad84c76cfa79c3ce8cb916a","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0055.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6555/tex_ceiling_textures_5769/tex_floor_textures_8617/tex_table_textures_6230/tex_wall_textures_9825","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3485019992418065914,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3485019992418065914,"visual_seed":3485019992418065914,"scene_id":"lab_003","finished_at":"2026-09-04T09:40:01"}
+{"episode_id":"ep_000056","started_at":"2026-09-04T09:40:05","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.5843277823893099,-0.9215259959139053,0.71338606911949],"aabb_xy":[[-0.6068277822032123,-0.926000612284386],[-0.5618277825754076,-0.9170513795434245]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[-0.4711078721463623,-1.1489649520028147,0.71338606911949],"aabb_xy":[[-0.5211078717226971,-1.1989455309549206],[-0.42110787257002763,-1.0989843730507087]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.312917603744663,1.149611275974781,0.71338606911949],"aabb_xy":[[-0.34791760205535843,1.141896261051235],[-0.27791760543396754,1.1573262908983264]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.30942500544888407,0.4145235945599839,0.71338606911949],"aabb_xy":[[0.2965531019479439,0.33452359414614774],[0.32229690894982416,0.49452359497382004]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[0.6448299339223531,-0.6940309201343038,0.71338606911949],"aabb_xy":[[0.5808299336483748,-0.7440970203315918],[0.7088299341963312,-0.6439648199370158]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.5285708218710246,0.023693393855230838,0.71338606911949],"aabb_xy":[[0.5151242952369812,0.010223542202139613],[0.5420173485050679,0.03716324550832206]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[-0.5479591608341698,-1.3721143882390339,0.71338606911949],"aabb_xy":[[-0.5979365776994234,-1.4221143897282822],[-0.4979817439689163,-1.322114386749785]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[0.18121828640574333,-0.5435577340828965,0.71338606911949],"aabb_xy":[[0.17480447276255837,-0.5499675543305648],[0.18763210004892825,-0.5371479138352281]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.5621862017120041,-1.2527506340113974,0.71338606911949],"aabb_xy":[[0.5396897802781401,-1.2752506338181449],[0.5846826231458683,-1.23025063420465]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[0.27616804451363974,-1.6155274374065027,0.71338606911949],"aabb_xy":[[0.24025454008865,-1.6514409456232573],[0.3120815489386294,-1.5796139291897482]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[-0.46301091145785833,-0.7417159095052996,0.71338606911949],"aabb_xy":[[-0.47027215902826575,-0.7545029197688092],[-0.4557496638874509,-0.7289288992417903]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[-0.2553974902906283,0.6105427493514122,0.71338606911949],"aabb_xy":[[-0.31939749196862566,0.562025357872098],[-0.19139748861263095,0.6590601408307264]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.46649731510162185,-0.31785852570821405,0.71338606911949],"aabb_xy":[[0.3764973127676028,-0.3953408802933267],[0.5564973174356409,-0.2403761711231014]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[-0.40120010398299744,1.487966378408863,0.71338606911949],"aabb_xy":[[-0.42308985157193824,1.3979663811196137],[-0.37931035639405664,1.577966375698112]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.22335164682788894,0.14891576871333978,0.71338606911949],"aabb_xy":[[-0.2408516470729383,0.13141598087377293],[-0.20585164658283953,0.16641555655290663]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.45193394645432095,0.02286539421780054,0.71338606911949],"aabb_xy":[[-0.4560698027870212,-0.01463460522655646],[-0.4477980901216208,0.06036539366215754]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[0.13509091886063895,-1.316373406975625,0.71338606911949],"aabb_xy":[[0.12372918420735277,-1.3277418733819129],[0.14645265351392509,-1.3050049405693367]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.34309946088649695,-1.9251505322405724,0.71338606911949],"aabb_xy":[[-0.34960109739450157,-1.9349183542668824],[-0.33659782437849234,-1.9153827102142629]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.398409926500892,-1.5153801327698917,0.71338606911949],"aabb_xy":[[0.36090992792527116,-1.5281164284334494],[0.43590992507651277,-1.5026438371063335]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.5164257392059346,1.4081237997065252,0.71338606911949],"aabb_xy":[[0.4664257388453686,1.358143812496922],[0.5664257395665007,1.458103786916128]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[0.330097300020207,1.0566888818074989,0.71338606911949],"aabb_xy":[[0.31576287489404353,1.04462866625296],[0.34443172514637044,1.0687490973620377]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.18993258883554742,1.300378182492087,0.71338606911949],"aabb_xy":[[-0.20772609577046386,1.2825784368962896],[-0.17213908190063099,1.318177928087885]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[0.03251487437143541,-2.1088584442090204,0.71338606911949],"aabb_xy":[[-0.04748512264281257,-2.128992995882432],[0.11251487138568339,-2.088723892535609]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[0.11652850184086772,1.0562830323494623,0.71338606911949],"aabb_xy":[[0.06652850319494652,1.0063634886899997],[0.1665285004867889,1.1062025760089245]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[-0.3352235999361362,0.886136808534093,0.71338606911949],"aabb_xy":[[-0.37272360010800815,0.8534360731511859],[-0.29772359976426427,0.9188375439170002]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[-0.4736992631418099,-0.9894170296499105,0.71338606911949],"aabb_xy":[[-0.5041835132688399,-1.0394170294314065],[-0.44321501301477967,-0.9394170298684146]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[0.3750560632295761,-0.7669373162865707,0.71338606911949],"aabb_xy":[[0.3625887051198404,-0.7794026409198942],[0.3875234213393117,-0.7544719916532472]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[0.023507731466828496,-1.7726170286110365,0.71338606911949],"aabb_xy":[[0.020067055226771324,-1.7764784615854012],[0.026948407706885672,-1.7687555956366723]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[0.5668066313085838,-2.1176186491364826,0.71338606911949],"aabb_xy":[[0.47680663271411383,-2.1338692354499043],[0.6568066299030537,-2.1013680628230618]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6546577036301282,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6558.png","name":"6558"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6558.png","name":"6558"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9458.png","name":"9458"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2613.png","name":"2613"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9448.png","name":"9448"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9467.png","name":"9467"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":575.878279023461,"rotation_z_degrees":331.43382758456687,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018675655741926013,0.008992812750765102,0.013663463323940677]},{"name":"camera_2","offset_m":[0.006664894548094651,0.011456627911177335,-0.004409575607623704]},{"name":"camera_3","offset_m":[-0.0005352571216287044,-0.009002046727225826,0.01745249310821703]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[6.193623094666745e-05,0.0011931704913711312,-0.0006496897929074348],"end_effector_yaw_offset_degrees":-0.5878123580039798},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001477442503162767,0.0014957410318621749,-0.0014754873207803324],"end_effector_yaw_offset_degrees":-0.6037796396008599},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00010075214313077412,-0.0017615418396330954,-0.001670709336589114],"end_effector_yaw_offset_degrees":0.6714704097341309}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002325149114029067,-0.0016642630738132424],"position_m":[0.19457485088597093,0.30603573692618674,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019019284618076084,0.003460112093029038],"position_m":[0.24189807153819237,-0.33073988790697095,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001712861750790706,0.0014011468878055077],"position_m":[0.2927128617507907,-0.0755988531121945,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003974867397035922,0.0043387918476507],"position_m":[0.3345748673970359,0.0852387918476507,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"547ab5cab697c36bd8ea1378a829c03d2bf04c2570c1f6ed90fabaaea8ba4cff","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6558/tex_ceiling_textures_9467/tex_floor_textures_9448/tex_table_textures_9458/tex_wall_textures_2613","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":487821233287067931,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":487821233287067931,"visual_seed":487821233287067931,"scene_id":"lab_003","finished_at":"2026-09-04T09:43:13"}
+{"episode_id":"ep_000057","started_at":"2026-09-04T09:43:18","dimensions":{"distractor":{"count":24,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.1639297471248553,-1.5664113149192176,0.71338606911949],"aabb_xy":[[-0.18172325405977172,-1.5842110605150153],[-0.14613624018993884,-1.54861156932342]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[0.2689554913671566,-1.830060639118833,0.71338606911949],"aabb_xy":[[0.251322655773629,-1.8476835851344557],[0.28658832696068415,-1.8124376931032098]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.14946022264727687,-1.9555879981262245,0.71338606911949],"aabb_xy":[[-0.18446022091739675,-1.9626621258212125],[-0.11446022437715694,-1.9485138704312361]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.20901277812971225,1.3191959967831903,0.71338606911949],"aabb_xy":[[-0.215049791130377,1.3131692957142422],[-0.20297576512904755,1.3252226978521384]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[-0.1649930327346265,-2.4109115474531904,0.71338606911949],"aabb_xy":[[-0.18999303266714443,-2.417794215674114],[-0.13999303280210865,-2.404028879232267]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.25125692360746293,-1.160849687983627,0.71338606911949],"aabb_xy":[[-0.33625692202488616,-1.245723983445912],[-0.1662569251900397,-1.075975392521342]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.618878292358014,-0.8944213556868901,0.71338606911949],"aabb_xy":[[-0.6315050796452103,-0.903967429388463],[-0.6062515050708176,-0.8848752819853172]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.21344451223877725,-0.6263025779695937,0.71338606911949],"aabb_xy":[[0.20603205669738878,-0.6321537883912216],[0.22085696778016572,-0.6204513675479657]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.43706001778313885,-1.4091942723304443,0.71338606911949],"aabb_xy":[[-0.4452745628988228,-1.4178708626280851],[-0.4288454726674548,-1.4005176820328025]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.27435845731023667,0.5141301320065801,0.71338606911949],"aabb_xy":[[0.23685845736647027,0.5058370419717434],[0.3118584572540031,0.5224232220414166]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.11228339216776695,-0.35548635188811595,0.71338606911949],"aabb_xy":[[-0.12896052816086243,-0.3721862758620462],[-0.09560625617467142,-0.3387864279141857]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[0.13797546712168596,1.0498565491357805,0.71338606911949],"aabb_xy":[[0.12993210719573078,0.9648565480404141],[0.14601882704764113,1.134856550231147]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.409995208599117,-2.031498551181575,0.71338606911949],"aabb_xy":[[-0.4154531542361371,-2.111498554489234],[-0.40453726296209697,-1.951498547873916]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[0.6294749385560297,-1.3956474401457852,0.71338606911949],"aabb_xy":[[0.5394749418204193,-1.4488309034630795],[0.7194749352916398,-1.3424639768284905]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.5063166863146367,-0.8397244417570864,0.71338606911949],"aabb_xy":[[0.489306589024586,-0.8558589302553604],[0.5233267836046873,-0.8235899532588126]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.4480380786141961,1.7252829610170939,0.71338606911949],"aabb_xy":[[-0.5120380777839659,1.6785162738981316],[-0.38403807944442614,1.7720496481360566]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[-0.2080173569070578,-0.8509066800038334,0.71338606911949],"aabb_xy":[[-0.24301735825853954,-0.8712664159606542],[-0.17301735555557607,-0.8305469440470126]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.6163750233622256,0.0032181645290929595,0.71338606911949],"aabb_xy":[[0.5911541865023857,-0.022005586323793788],[0.641595860222065,0.028441915381979706]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.31217089217717814,1.233748760851396,0.71338606911949],"aabb_xy":[[-0.3298465227657764,1.2160685445719932],[-0.29449526158857975,1.2514289771307987]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.594432236269756,-2.347444308690641,0.71338606911949],"aabb_xy":[[-0.5993315285763194,-2.3751212279932097],[-0.5895329439631924,-2.319767389388072]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.3834629433253512,-2.514211241467346,0.71338606911949],"aabb_xy":[[-0.420962943617526,-2.51825271686795],[-0.3459629430331764,-2.5101697660667424]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[0.648261144167054,-0.18466395352822662,0.71338606911949],"aabb_xy":[[0.5842611477397323,-0.2318335773503231],[0.7122611405943761,-0.1374943297061302]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[-0.5796202705913103,-1.9067806454114573,0.71338606911949],"aabb_xy":[[-0.5971669655074293,-1.9442806469757088],[-0.5620735756751915,-1.8692806438472063]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[0.15984281935107691,-1.1015206050008328,0.71338606911949],"aabb_xy":[[0.14474051789005876,-1.1166221266318943],[0.17494512081209496,-1.0864190833697704]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6565401896341388,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3215.png","name":"3215"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3215.png","name":"3215"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6607.png","name":"6607"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/328.png","name":"328"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/230.png","name":"230"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/326.png","name":"326"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":704.4665503524634,"rotation_z_degrees":191.50797423946082,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01616272254577703,-0.016693695451501307,0.011517024656707748]},{"name":"camera_2","offset_m":[-0.006067246427345583,-0.018062279623254927,-0.007861788595165002]},{"name":"camera_3","offset_m":[0.005259337521576372,0.010933444949597713,-0.019512954101336827]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00010841130564613393,0.00016287835217408545,0.0012727480649393497],"end_effector_yaw_offset_degrees":-0.14979827475007923},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007724051462863744,0.0019268209582412833,0.001643152445109629],"end_effector_yaw_offset_degrees":-0.9293060790079604},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017132833768820715,0.0005757389551154829,-0.0019058947785824953],"end_effector_yaw_offset_degrees":-0.807993179499934}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0002757075950363128,-0.004197124927079719],"position_m":[0.1971757075950363,0.30350287507292023,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018144189734271765,-0.00010262133560805763],"position_m":[0.2419855810265728,-0.33430262133560806,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002587833839883771,-0.0013341939936182858],"position_m":[0.2884121661601162,-0.07833419399361828,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036892074810541036,0.0005527550055334351],"position_m":[0.3342892074810541,0.08145275500553344,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a9bda9e53a83a28132907a002f127810aa11ab2917d717847761f448ab40b7b1","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0057.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3215/tex_ceiling_textures_326/tex_floor_textures_230/tex_table_textures_6607/tex_wall_textures_328","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4642136416614364045,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4642136416614364045,"visual_seed":4642136416614364045,"scene_id":"lab_003","finished_at":"2026-09-04T09:46:18"}
+{"episode_id":"ep_000058","started_at":"2026-09-04T09:46:21","dimensions":{"distractor":{"count":26,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.06618766580228008,1.3101460950309622,0.71338606911949],"aabb_xy":[[-0.013812331211967899,1.290011543357551],[0.14618766281652806,1.3302806467043735]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[-0.08096996551920033,0.8308768614558395,0.71338606911949],"aabb_xy":[[-0.09860280111272789,0.8132539154402164],[-0.06333712992567274,0.8484998074714624]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.1612344907588834,0.7466350926410388,0.71338606911949],"aabb_xy":[[0.11905007659805267,0.6826350923638277],[0.20341890491971415,0.8106350929182501]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.23622315555074386,-0.27807597769208225,0.71338606911949],"aabb_xy":[[-0.24500438269798017,-0.28685572498061246],[-0.22744192840350771,-0.26929623040355216]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.453607321392537,-1.840798662502223,0.71338606911949],"aabb_xy":[[-0.5336073246503799,-1.920795170294207],[-0.373607318134694,-1.760802154710239]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[0.18561767303188093,1.0972851538909887,0.71338606911949],"aabb_xy":[[0.1206176729975782,1.0505844772106612],[0.25061767306618365,1.1439858305713158]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[-0.2861769709434449,0.6612993898313309,0.71338606911949],"aabb_xy":[[-0.29794515773810243,0.5762993899261094],[-0.2744087841487874,0.7462993897365525]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.19930408529106147,-1.0290623514259387,0.71338606911949],"aabb_xy":[[-0.22314030293166656,-1.1190623522344254],[-0.1754678676504564,-0.9390623506174525]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[-0.4964943007532845,0.08434190312512246,0.71338606911949],"aabb_xy":[[-0.5019522463903046,0.004341899817463343],[-0.49103635511626437,0.16434190643278157]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[0.548392818500391,-2.180821325515666,0.71338606911949],"aabb_xy":[[0.5352415725291018,-2.205821325272353],[0.5615440644716805,-2.15582132575898]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[-0.2785386740071263,-0.8587811839699486,0.71338606911949],"aabb_xy":[[-0.29564075196549444,-0.8758879895012185],[-0.26143659604875813,-0.841674378438679]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[0.6293472719751381,0.2868634393389473,0.71338606911949],"aabb_xy":[[0.5918472714777799,0.2828947557908289],[0.6668472724724964,0.2908321228870657]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.33459179511389664,-1.0669824438786921,0.71338606911949],"aabb_xy":[[-0.389587272934556,-1.121982445312599],[-0.2795963172932372,-1.0119824424447852]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[0.6133206491704843,-0.18093763301301014,0.71338606911949],"aabb_xy":[[0.549320648467015,-0.2269560154859312],[0.6773206498739537,-0.13491925054008916]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.11869702558388318,0.6059276669740052,0.71338606911949],"aabb_xy":[[-0.12365304576876437,0.5834276667718837],[-0.11374100539900198,0.628427667176127]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.2509901999928697,1.5079376091122723,0.71338606911949],"aabb_xy":[[-0.30599019819461454,1.4674156424858347],[-0.1959902017911249,1.5484595757387098]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[-0.038583717206516766,-1.7083325357386259,0.71338606911949],"aabb_xy":[[-0.05601443228552326,-1.7256046504024767],[-0.021153002127510246,-1.691060421074775]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.5019057630864844,0.4162566314855254,0.71338606911949],"aabb_xy":[[-0.5394057631920772,0.4094344696325442],[-0.46440576298089137,0.42307879333850645]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[0.22694062997863207,-1.4838544369155706,0.71338606911949],"aabb_xy":[[0.16294062960109842,-1.5335997037663829],[0.2909406303561657,-1.4341091700647584]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.4513736632209018,0.3040544507849883,0.71338606911949],"aabb_xy":[[0.38637366058310835,0.25257485208554126],[0.5163736658586953,0.3555340494844352]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.1709834684319681,-2.0189460336582292,0.71338606911949],"aabb_xy":[[0.1608304528778187,-2.055015575230969],[0.18113648398611745,-1.9828764920854884]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.20530484251151326,-1.5169445715686845,0.71338606911949],"aabb_xy":[[-0.21994824806554622,-1.5316032912254687],[-0.19066143695748025,-1.5022858519119002]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[0.6542092114987563,-1.705757918815197,0.71338606911949],"aabb_xy":[[0.639037042217123,-1.7209267757434004],[0.6693813807803897,-1.6905890618869936]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[0.3396790139872057,0.9274309033841033,0.71338606911949],"aabb_xy":[[0.33096504493727114,0.9049309027249149],[0.3483929830371401,0.9499309040432914]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.5702927555110269,-0.046418872897714625,0.71338606911949],"aabb_xy":[[-0.5800487450202008,-0.05618140695694906],[-0.560536766001853,-0.03665633883848018]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_25","position":[-0.3633166074404863,0.890544311157059,0.71338606911949],"aabb_xy":[[-0.4133008431486635,0.8405443123435635],[-0.31333237173230905,0.9405443099705547]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6551326567387583,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7451.png","name":"7451"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7451.png","name":"7451"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3402.png","name":"3402"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5643.png","name":"5643"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6368.png","name":"6368"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5516.png","name":"5516"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":847.1656331845429,"rotation_z_degrees":108.38348293930835,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017768774721874606,-0.008849154962751618,0.010602121908274954]},{"name":"camera_2","offset_m":[0.006551147231524942,0.012087079752637852,-0.01480660085094419]},{"name":"camera_3","offset_m":[-0.0021979198063439946,-0.017051123125555755,0.00675498168632984]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011538621441608266,0.0015751559949092478,0.00011702274072905236],"end_effector_yaw_offset_degrees":-0.9451368697154847},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00023181905917691518,-0.0017917142488848969,0.00134644270269109],"end_effector_yaw_offset_degrees":-0.12943918963164958},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001522504056153761,0.0008916752777686165,0.0017372135596869457],"end_effector_yaw_offset_degrees":-0.8246978341727924}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034506712685363674,-0.0007884200946275113],"position_m":[0.19344932873146362,0.3069115799053725,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00403813660801701,-0.0010910423546621065],"position_m":[0.23976186339198297,-0.3352910423546621,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008719487873655963,0.001668921422859286],"position_m":[0.29187194878736555,-0.07533107857714072,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[8.281368425869413e-06,0.0023972239733030176],"position_m":[0.33060828136842585,0.08329722397330301,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20441076f974cf8d7392182966cfb610e728534ad01f78a4d87186db6c0b8420","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7451/tex_ceiling_textures_5516/tex_floor_textures_6368/tex_table_textures_3402/tex_wall_textures_5643","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":324098639977840215,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":324098639977840215,"visual_seed":324098639977840215,"scene_id":"lab_003","finished_at":"2026-09-04T09:49:17"}
+{"episode_id":"ep_000059","started_at":"2026-09-04T09:49:20","dimensions":{"distractor":{"count":24,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[0.07083474017859281,-2.2420835457933164,0.71338606911949],"aabb_xy":[[0.06537679454157275,-2.322083549100975],[0.07629268581561288,-2.162083542485657]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.1619230440336471,-2.022904983246673,0.71338606911949],"aabb_xy":[[0.11192304459345148,-2.0728729077309893],[0.21192304347384272,-1.9729370587623567]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.6214899829699786,-0.17371990323866582,0.71338606911949],"aabb_xy":[[-0.6600356757951796,-0.2122656742948545],[-0.5829442901447776,-0.13517413218247715]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.6436906461260774,-1.1501382934436437,0.71338606911949],"aabb_xy":[[0.637378546589739,-1.1559052326968628],[0.6500027456624158,-1.144371354190425]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[-0.3965545768928065,0.004226214103603354,0.71338606911949],"aabb_xy":[[-0.41846325903215753,-0.017674452716487377],[-0.37464589475345544,0.026126880923694085]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.03113765178492056,-0.8059806972028776,0.71338606911949],"aabb_xy":[[0.014460515791825057,-0.8226806211768078],[0.047814787778016066,-0.7892807732289473]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.5245958989712931,-0.5534192317475037,0.71338606911949],"aabb_xy":[[0.4934489801277099,-0.6234192304343109],[0.5557428178148761,-0.48341923306069656]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.5338695287403324,-1.9806560342459765,0.71338606911949],"aabb_xy":[[-0.539451200374461,-1.993156034063752],[-0.5282878571062036,-1.968156034428201]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[0.5615351957847585,-1.6538722965472936,0.71338606911949],"aabb_xy":[[0.49753519410676117,-1.7023896880266078],[0.6255351974627559,-1.6053549050679794]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.08887498784506564,-0.5423678347140606,0.71338606911949],"aabb_xy":[[-0.09863097735423954,-0.552130368773295],[-0.07911899833589175,-0.5326053006548261]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[-0.39895337463789166,-1.636603756342674,0.71338606911949],"aabb_xy":[[-0.4789533751081077,-1.6449144639570228],[-0.3189533741676758,-1.6282930487283258]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[-0.4496391328528057,1.3945095569662254,0.71338606911949],"aabb_xy":[[-0.46721743504175256,1.3769350673921201],[-0.43206083066385886,1.4120840465403302]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.048004535019363304,1.0135458670597046,0.71338606911949],"aabb_xy":[[-0.05729815325651388,0.9760458685715705],[-0.038710916782212716,1.0510458655478383]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.481746269554422,1.0597260191480524,0.71338606911949],"aabb_xy":[[-0.5190775460796646,1.0250729643532002],[-0.4444149930291795,1.0943790739429047]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.5065950198450228,0.5504023377088312,0.71338606911949],"aabb_xy":[[-0.5162266560654524,0.5407650249291223],[-0.49696338362459314,0.5600396504885401]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.4477925499722919,1.405414892163492,0.71338606911949],"aabb_xy":[[0.3937769536903919,1.3414148892712348],[0.5018081462541919,1.469414895055749]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[0.47407814229389,1.006924461958992,0.71338606911949],"aabb_xy":[[0.456531447377771,0.9694244603947411],[0.4916248372100089,1.0444244635232436]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.2944283140728543,0.3845942605050401,0.71338606911949],"aabb_xy":[[-0.3288907920859421,0.37793058332211726],[-0.25996583605976653,0.3912579376879629]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.5597688560638319,1.212616967655375,0.71338606911949],"aabb_xy":[[0.47976885740694586,1.1981121087311122],[0.6397688547207179,1.227121826579638]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.49417064284581996,0.4755395068619017,0.71338606911949],"aabb_xy":[[-0.5045822015263036,0.47019377352600317],[-0.48375908416533614,0.48088524019780016]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[0.526734015610884,-2.1898833667727944,0.71338606911949],"aabb_xy":[[0.5148012812490559,-2.2022655195806533],[0.538666749972712,-2.1775012139649346]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[0.2826489734583443,-2.2557408687665146,0.71338606911949],"aabb_xy":[[0.2176489708205508,-2.3072204674659615],[0.34764897609613776,-2.2042612700670676]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[-0.08448048509747841,1.6402817020082954,0.71338606911949],"aabb_xy":[[-0.0996433580744155,1.625116244713177],[-0.06931761212054133,1.6554471593034146]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[-0.6138037562767484,-0.9879218331372743,0.71338606911949],"aabb_xy":[[-0.6314365918702759,-1.005544779152897],[-0.5961709206832208,-0.9702988871216512]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6567263270601782,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2029.png","name":"2029"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2029.png","name":"2029"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5463.png","name":"5463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7517.png","name":"7517"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8371.png","name":"8371"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4334.png","name":"4334"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":644.963122234295,"rotation_z_degrees":316.8501928564882,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014101124839055089,0.019792804138545683,0.011666770936701803]},{"name":"camera_2","offset_m":[-0.007368906118594976,0.005023309607114786,0.012350932872189104]},{"name":"camera_3","offset_m":[0.018009635806234155,0.019956023028656105,-0.013216736914771116]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005368757233809038,-0.0003998653224307196,0.001997124981538245],"end_effector_yaw_offset_degrees":0.5647572713466247},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006631160836973854,-0.0019448211613403994,-5.3320191122908445e-05],"end_effector_yaw_offset_degrees":-0.1812813351178617},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001371705471802604,-0.0008380436515915562,-0.0004210002965084297],"end_effector_yaw_offset_degrees":0.9346013629433993}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038273372870594015,0.004940128342232112],"position_m":[0.20072733728705938,0.3126401283422321,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034552893175503465,-0.003223024082596153],"position_m":[0.24034471068244964,-0.33742302408259617,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002045518076250685,-0.002010128164326297],"position_m":[0.2889544819237493,-0.0790101281643263,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010942163637838141,-0.002990983558277035],"position_m":[0.3316942163637838,0.07790901644172296,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e3eed233812e47205dd2c54cd91ac1674b52dbb80001b4944c4c014c451a171e","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2029/tex_ceiling_textures_4334/tex_floor_textures_8371/tex_table_textures_5463/tex_wall_textures_7517","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6044634100137090369,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6044634100137090369,"visual_seed":6044634100137090369,"scene_id":"lab_003","finished_at":"2026-09-04T09:52:20"}
+{"episode_id":"ep_000060","started_at":"2026-09-04T09:52:24","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[-0.3674987698414412,-1.9712956989843793,0.71338606911949],"aabb_xy":[[-0.43149877218424276,-2.016236550228512],[-0.30349876749863963,-1.926354847740247]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.2245531656594183,1.3842989907890573,0.71338606911949],"aabb_xy":[[0.21727084928275459,1.2942989871795478],[0.2318354820360819,1.4742989943985658]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[0.3934290966829175,-2.09188384234562,0.71338606911949],"aabb_xy":[[0.34342909573238456,-2.123432989349141],[0.4434290976334502,-2.0603346953420982]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.6162914485338187,0.1612639084113523,0.71338606911949],"aabb_xy":[[0.5937914487199163,0.15678929204087164],[0.6387914483477211,0.165738524781833]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.6508857819544533,-0.6490946205256911,0.71338606911949],"aabb_xy":[[0.6428494472531685,-0.6571327398301078],[0.6589221166557382,-0.6410565012212742]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[0.39481937505153075,-0.7113997220242769,0.71338606911949],"aabb_xy":[[0.34481937376769073,-0.7613785764148989],[0.44481937633537066,-0.6614208676336547]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.4136486766908929,-1.010127579556215,0.71338606911949],"aabb_xy":[[0.34964867752112294,-1.0568942666751773],[0.47764867586066284,-0.9633608924372524]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[-0.5873321815689903,-2.520438322251154,0.71338606911949],"aabb_xy":[[-0.6123321807346233,-2.5273905679565107],[-0.562332182403357,-2.5134860765457976]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[-0.5596151590293321,1.6614001687920372,0.71338606911949],"aabb_xy":[[-0.5778209826905798,1.6503747682100458],[-0.5414093353680844,1.672425569374029]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[0.5498316993000782,-0.9945972893762689,0.71338606911949],"aabb_xy":[[0.527335277866214,-1.0170972891830163],[0.5723281207339422,-0.9720972895695215]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.05861027330728652,1.669709855925078,0.71338606911949],"aabb_xy":[[-0.07205679994132985,1.6562400042719867],[-0.04516374667324319,1.6831797075781694]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[0.5335075091846357,-0.5695202221066111,0.71338606911949],"aabb_xy":[[0.524347630240759,-0.5760514401501483],[0.5426673881285122,-0.5629890040630742]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[0.6041537239810841,-1.987878107766964,0.71338606911949],"aabb_xy":[[0.5441537241345172,-2.0446967299600027],[0.6641537238276508,-1.9310594855739254]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.31407610684607135,-2.4411165592023765,0.71338606911949],"aabb_xy":[[0.2969740288877032,-2.458223364733646],[0.3311781848044395,-2.4240097536711067]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.27067510238103937,-1.5983148625797687,0.71338606911949],"aabb_xy":[[-0.2747532602880891,-1.602395842828032],[-0.2665969444739896,-1.5942338823315054]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.4779039322471663,0.07299452942800722,0.71338606911949],"aabb_xy":[[-0.5679039289827765,0.01981106611071269],[-0.38790393551155605,0.12617799274530173]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[0.15376648668512116,-1.4074985530804305,0.71338606911949],"aabb_xy":[[0.1187664875551655,-1.4132437741560946],[0.18876648581507682,-1.4017533320047664]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.07585666361674415,-2.1216115182295825,0.71338606911949],"aabb_xy":[[-0.004143334970575271,-2.200927120167743],[0.15585666220406358,-2.042295916291421]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.4811311826354673,0.4514174917100169,0.71338606911949],"aabb_xy":[[-0.530947962100302,0.4014174932257135],[-0.4313144031706325,0.5014174901943202]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.5034541474204972,-1.132756518411907,0.71338606911949],"aabb_xy":[[-0.5684541484209977,-1.183542883566582],[-0.4384541464199967,-1.0819701532572321]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[0.1556569757305375,-0.5709775539049557,0.71338606911949],"aabb_xy":[[0.12319527484861002,-0.6011103860198581],[0.18811867661246492,-0.5408447217900529]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[-0.44852674848511986,1.1156669392706244,0.71338606911949],"aabb_xy":[[-0.5322489739852023,1.0256669357359285],[-0.3648045229850374,1.2056669428053204]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[-0.20836773098671607,1.0624373666906894,0.71338606911949],"aabb_xy":[[-0.298367730405087,1.0290618698464995],[-0.11836773156834521,1.095812863534879]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[0.12180361605351553,-1.2473594287788738,0.71338606911949],"aabb_xy":[[0.041803617396629536,-1.2618642877031365],[0.20180361471040154,-1.2328545698546112]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[-0.26869956030424286,-2.3864216888314123,0.71338606911949],"aabb_xy":[[-0.30316190770238455,-2.4209155712292345],[-0.23423721290610097,-2.351927806433589]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_25","position":[0.5161700886293517,-2.4700105067067173,0.71338606911949],"aabb_xy":[[0.4521700900427792,-2.517017470106226],[0.5801700872159241,-2.4230035433072086]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[0.08599014832193175,-1.1787904338077386,0.71338606911949],"aabb_xy":[[0.06849014918756456,-1.188670060845326],[0.1034901474562989,-1.1689108067701504]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_27","position":[0.4491373274720787,1.473416727644294,0.71338606911949],"aabb_xy":[[0.3991373261111914,1.4234388230688784],[0.49913732883296585,1.5233946322197096]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[0.5882355900386849,1.6028254812592704,0.71338606911949],"aabb_xy":[[0.518235593628723,1.5823875456075884],[0.6582355864486465,1.6232634169109519]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_29","position":[-0.5061441532568983,-0.9377308490942637,0.71338606911949],"aabb_xy":[[-0.5961441529800724,-0.9608042016294435],[-0.4161441535337241,-0.9146574965590838]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_30","position":[0.6064946553345842,-0.8322220908427136,0.71338606911949],"aabb_xy":[[0.5612160404534349,-0.8962220901908972],[0.6517732702157334,-0.7682220914945298]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6592591881739787,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6341.png","name":"6341"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6341.png","name":"6341"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1830.png","name":"1830"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1161.png","name":"1161"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1502.png","name":"1502"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1335.png","name":"1335"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":742.004046983299,"rotation_z_degrees":233.0450028446724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011812045037834892,0.019185360499553644,-0.018136705314393157]},{"name":"camera_2","offset_m":[-0.011995244907502207,-0.001096455818048979,-0.008563791154779107]},{"name":"camera_3","offset_m":[-0.012847610932640103,-0.0014046660518500266,0.019815165485571187]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005794246002867832,0.0003274844185602059,0.0014657903625845872],"end_effector_yaw_offset_degrees":0.5539706781713376},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008816679624696166,0.0010185703857181223,-0.0015860512996770763],"end_effector_yaw_offset_degrees":-0.6050212929123961},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001594876206444894,-0.0004816418834004126,-0.0008689437144029219],"end_effector_yaw_offset_degrees":-0.35189528571920103}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012503136637147753,0.004943695154217193],"position_m":[0.19815031366371477,0.3126436951542172,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0040637132557108996,0.0045660484939513525],"position_m":[0.24786371325571088,-0.32963395150604863,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003631583899508242,-0.002459501925872607],"position_m":[0.28736841610049174,-0.0794595019258726,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004938479694597256,-0.000658032654253086],"position_m":[0.32566152030540274,0.08024196734574691,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"45f090646b4f03d89ada3fc407025e4bc9860c8d674ae28fecb4513f65447f09","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0060.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6341/tex_ceiling_textures_1335/tex_floor_textures_1502/tex_table_textures_1830/tex_wall_textures_1161","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4098840610808419905,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4098840610808419905,"visual_seed":4098840610808419905,"scene_id":"lab_003","finished_at":"2026-09-04T09:55:20"}
+{"episode_id":"ep_000061","started_at":"2026-09-04T09:55:24","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[-0.6710892328951041,-0.29178367529369575,0.71338606911949],"aabb_xy":[[-0.6811709399736774,-0.37178367318581035],[-0.6610075258165304,-0.21178367740158105]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.0009702822698995917,-1.9453245346821333,0.71338606911949],"aabb_xy":[[-0.04511480898483188,-2.009324531934688],[0.047055373524631065,-1.881324537429578]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.012533253900144703,-0.11599361073410286,0.71338606911949],"aabb_xy":[[-0.0174325462067082,-0.1436705300366716],[-0.007633961593581207,-0.08831669143153406]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.22776886902442955,-1.4690827569561329,0.71338606911949],"aabb_xy":[[-0.2917688723141376,-1.5124176759600503],[-0.16376886573472144,-1.425747837952215]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.5402919436108818,1.7157183150080093,0.71338606911949],"aabb_xy":[[-0.590291218779318,1.6657183137320624],[-0.4902926684424457,1.7657183162839567]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[-0.3384218387273145,1.302584238079728,0.71338606911949],"aabb_xy":[[-0.3934140893628255,1.2475842363364151],[-0.2834295880918036,1.3575842398230407]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[0.5118657673112339,-0.8944906035385323,0.71338606911949],"aabb_xy":[[0.486865767378716,-0.9013732717594556],[0.5368657672437518,-0.887607935317609]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[-0.39020380943025823,0.5302143253489184,0.71338606911949],"aabb_xy":[[-0.47020381050337856,0.520436279011534],[-0.3102038083571379,0.5399923716863029]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.2336448446470658,0.9789339957295331,0.71338606911949],"aabb_xy":[[0.20864484537510347,0.9625886321333709],[0.258644843919028,0.9952793593256956]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.20202041331577347,1.2130734423886271,0.71338606911949],"aabb_xy":[[-0.21959871550472032,1.1954989528145221],[-0.18444211112682662,1.2306479319627321]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[-0.1785862470630234,-2.24706196608505,0.71338606911949],"aabb_xy":[[-0.26230847256310585,-2.3370619696197457],[-0.09486402156294094,-2.1570619625503538]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.33606746102035334,-2.2036997161559406,0.71338606911949],"aabb_xy":[[0.3267738427832027,-2.2411997146440745],[0.34536107925750387,-2.1661997176678067]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.5520164782369449,1.28989839661162,0.71338606911949],"aabb_xy":[[-0.5671793512138821,1.2747329393165012],[-0.5368536052600079,1.3050638539067387]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.12571609260427252,-0.6821879367174855,0.71338606911949],"aabb_xy":[[-0.1403594981583055,-0.6968466563742696],[-0.11107268705023954,-0.6675292170607011]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[-0.2572983444655433,0.7986060526430245,0.71338606911949],"aabb_xy":[[-0.30229093118399364,0.7536060533685758],[-0.21230575774709282,0.8436060519174733]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.28725122401630826,-0.6036097389330575,0.71338606911949],"aabb_xy":[[-0.29781870367440727,-0.614154769046066],[-0.27668374435820925,-0.5930647088200489]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[-0.37987825935350206,-0.03718036046200712,0.71338606911949],"aabb_xy":[[-0.3950504286351354,-0.05234921739021047],[-0.3647060900718687,-0.02201150353380376]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[0.449919893317021,1.388572806691641,0.71338606911949],"aabb_xy":[[0.4124198918013892,1.3773460336754957],[0.48741989483265263,1.3997995797077858]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[-0.5048226240401321,-1.349543220652928,0.71338606911949],"aabb_xy":[[-0.5269951510167828,-1.371718887809051],[-0.48265009706348116,-1.3273675534968048]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.4532821298534788,-1.8401934750105204,0.71338606911949],"aabb_xy":[[0.42288401875433523,-1.87060037701219],[0.4836802409526224,-1.809786573008851]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.012929710051301724,-0.9727760985282059,0.71338606911949],"aabb_xy":[[-0.050429711236094514,-0.9771943212242664],[0.02457029113349107,-0.9683578758321454]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.5533783545920045,-1.9072484374783283,0.71338606911949],"aabb_xy":[[-0.57124746234646,-1.9210813454555393],[-0.535509246837549,-1.8934155295011172]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.6468589635153312,0.6757370631300765,0.71338606911949],"aabb_xy":[[0.6122678806612859,0.6107370628450454],[0.6814500463693763,0.7407370634151075]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.18516591389297177,-0.09820796702802248,0.71338606911949],"aabb_xy":[[-0.2103867507528114,-0.1234317178809092],[-0.15994507703313207,-0.0729842161751357]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_24","position":[0.40492505991733085,-1.305711431580625,0.71338606911949],"aabb_xy":[[0.4002899447650975,-1.3095787666577736],[0.4095601750695642,-1.301844096503476]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.2191106073289979,-0.26023409121981755,0.71338606911949],"aabb_xy":[[-0.2831106080324673,-0.3062524736927386],[-0.15511060662552859,-0.2142157087468966]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_26","position":[-0.4140351943628802,-0.21884898855051604,0.71338606911949],"aabb_xy":[[-0.5040351980397982,-0.28028139512762035],[-0.324035190685962,-0.15741658197341166]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6565925440118978,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5527.png","name":"5527"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5527.png","name":"5527"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3960.png","name":"3960"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4145.png","name":"4145"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6785.png","name":"6785"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6560.png","name":"6560"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":698.9339299703054,"rotation_z_degrees":278.62486273412435,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013086640999660663,0.00807264472437303,-0.001595491487676414]},{"name":"camera_2","offset_m":[-0.006191554967256789,0.010525039814452006,0.012107268707210458]},{"name":"camera_3","offset_m":[0.011876870338096281,0.018259774162112965,-0.00033239128052148584]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011374395033577852,-0.000988851577613739,-0.0018436881122806134],"end_effector_yaw_offset_degrees":-0.12312903587949808},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000643776751881848,0.0017405989613033259,-4.028226223388824e-05],"end_effector_yaw_offset_degrees":0.2730588363796915},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00019767030503008913,-0.000261682705632995,-0.0005629379872053293],"end_effector_yaw_offset_degrees":-0.36340016689745913}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037992673521831328,-0.0045877505586298705],"position_m":[0.20069926735218313,0.3031122494413701,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009568494133887894,0.001247845595391774],"position_m":[0.2428431505866112,-0.33295215440460824,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002516675155178746,0.0033113924410734215],"position_m":[0.2935166751551787,-0.07368860755892657,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024167559356812487,-0.002869717532545174],"position_m":[0.32818324406431876,0.07803028246745483,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"97472220af7ae5c017e68b84bc5910b668e8a806e80c026d4d55589184b708b2","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5527/tex_ceiling_textures_6560/tex_floor_textures_6785/tex_table_textures_3960/tex_wall_textures_4145","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4265543153383660329,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4265543153383660329,"visual_seed":4265543153383660329,"scene_id":"lab_003","finished_at":"2026-09-04T09:58:25"}
+{"episode_id":"ep_000062","started_at":"2026-09-04T09:58:28","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.0991980317523824,-0.9059454870380943,0.71338606911949],"aabb_xy":[[0.08659533261530593,-0.9185408832629598],[0.11180073088945884,-0.8933500908132288]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.5339870018260658,-2.3113058758048286,0.71338606911949],"aabb_xy":[[-0.5792656167072151,-2.3753058751530123],[-0.4887083869449166,-2.247305876456645]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[0.4923821507721098,-2.156740010300928,0.71338606911949],"aabb_xy":[[0.4548821499801142,-2.1631078512591184],[0.5298821515641051,-2.150372169342738]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.41974343560457783,-0.0751980704285593,0.71338606911949],"aabb_xy":[[-0.4460322599250184,-0.10146950408321052],[-0.39345461128413706,-0.048926636773908065]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.2751257591280847,1.4699244966344573,0.71338606911949],"aabb_xy":[[0.2659658801842081,1.46339327859092],[0.2842856380719613,1.4764557146779942]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.09339166202576021,-2.4938782072976196,0.71338606911949],"aabb_xy":[[0.07783589261549498,-2.5094286405420267],[0.10894743143602552,-2.4783277740532124]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.39629328274288933,-2.425207421676278,0.71338606911949],"aabb_xy":[[0.3362932822350364,-2.482054155362199],[0.45629328325074225,-2.368360687990356]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.4461854297243557,1.5537811887813215,0.71338606911949],"aabb_xy":[[-0.4961854313858503,1.5037827465256186],[-0.3961854280628608,1.603779631037024]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[0.4112110140965477,0.6202934823022894,0.71338606911949],"aabb_xy":[[0.39366431918042877,0.5827934807380382],[0.42875770901266663,0.6577934838665407]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[0.4766675929203803,0.22118238286148006,0.71338606911949],"aabb_xy":[[0.46625603423989664,0.2158366495255816],[0.48707915160086407,0.22652811619737853]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.553037430276599,-0.7542381284457276,0.71338606911949],"aabb_xy":[[0.515537430104727,-0.7869388638286348],[0.5905374304484708,-0.7215373930628204]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[-0.2219609626467668,-1.875152590712009,0.71338606911949],"aabb_xy":[[-0.27696096084851163,-1.9156745573384466],[-0.16696096444502195,-1.8346306240855714]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[0.0881745563310965,-1.9964826794018944,0.71338606911949],"aabb_xy":[[0.008180732752538278,-2.076482681994736],[0.16816837990965472,-1.9164826768090533]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.29011092044869635,-0.5193513393304579,0.71338606911949],"aabb_xy":[[0.28477334478269184,-0.5443513402595976],[0.295448496114701,-0.49435133840131806]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[-0.5076722438616106,-0.4063098907026479,0.71338606911949],"aabb_xy":[[-0.5776722402715722,-0.42674782635432956],[-0.4376722474516486,-0.3858719550509661]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[0.5737205716555744,1.218106693830232,0.71338606911949],"aabb_xy":[[0.5688212793490108,1.190429774527663],[0.5786198639621378,1.2457836131328006]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.2172328270930664,1.1310319282176708,0.71338606911949],"aabb_xy":[[-0.2391415092324174,1.1091312613975801],[-0.1953241449537153,1.1529325950377616]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.03798719069593626,0.6838996832010102,0.71338606911949],"aabb_xy":[[-0.007012810770292597,0.6388998263395296],[0.0829871921621651,0.7288995400624909]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.25461135041890903,-0.47701358138263705,0.71338606911949],"aabb_xy":[[-0.26202380596029756,-0.482864791804265],[-0.24719889487752061,-0.4711623709610091]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[0.08628161198188511,-0.7484905863490858,0.71338606911949],"aabb_xy":[[0.02228161339531265,-0.7954975497485945],[0.15028161056845757,-0.7014836229495771]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.4488859568774768,-1.7230515680238936,0.71338606911949],"aabb_xy":[[0.44477000676540407,-1.727167123056739],[0.4530019069895494,-1.7189360129910478]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[0.05591401547256758,1.4863948491604213,0.71338606911949],"aabb_xy":[[0.018414013956935864,1.4751680761442763],[0.09341401698819929,1.4976216221765664]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.13095973897045676,1.2688498793376848,0.71338606911949],"aabb_xy":[[-0.18093280450297222,1.2188498795251521],[-0.08098667343794129,1.318849879150218]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_23","position":[-0.6518724392664024,-0.38845443290234183,0.71338606911949],"aabb_xy":[[-0.6689745172247705,-0.4055612384336116],[-0.6347703613080342,-0.3713476273710721]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[0.43842837668760204,-1.9864504483831644,0.71338606911949],"aabb_xy":[[0.37442837463787004,-2.026544931472472],[0.502428378737334,-1.9463559652938562]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[-0.624373867881152,0.746379801527679,0.71338606911949],"aabb_xy":[[-0.6743738674574868,0.6963992225755732],[-0.5743738683048174,0.7963603804797851]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625770305214933,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1441.png","name":"1441"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1441.png","name":"1441"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8914.png","name":"8914"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/455.png","name":"455"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7215.png","name":"7215"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2047.png","name":"2047"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":548.5122377373693,"rotation_z_degrees":233.9015121046513,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015162470631324894,0.01721709224823278,0.00750538494915217]},{"name":"camera_2","offset_m":[0.005088204805274964,-0.004529513891995882,0.005467312242516922]},{"name":"camera_3","offset_m":[0.005259056606587948,0.015401417899201752,-0.0028431614703471504]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005584529233436037,-0.001953689086916166,0.0016554639038291363],"end_effector_yaw_offset_degrees":-0.21295855032364108},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019053012954885502,0.0014650960584073934,0.0007136356771927778],"end_effector_yaw_offset_degrees":0.4684555981562022},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006026808727782784,-0.0019254367259598634,0.0015663690535448124],"end_effector_yaw_offset_degrees":-0.9937817691489166}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0041510683842943446,0.0012650033111839534],"position_m":[0.20105106838429435,0.30896500331118393,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003515730602740544,-0.00294905591868445],"position_m":[0.24731573060274054,-0.33714905591868444,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017369353591535465,0.0020588291820463752],"position_m":[0.28926306464084645,-0.07494117081795362,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003226519584047274,-0.004906452024460497],"position_m":[0.3273734804159527,0.0759935479755395,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"29589d99beefff2a65eb5082646f638e0828d5103c7229816b7dff56ef6e6005","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1441/tex_ceiling_textures_2047/tex_floor_textures_7215/tex_table_textures_8914/tex_wall_textures_455","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6919763792229235441,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6919763792229235441,"visual_seed":6919763792229235441,"scene_id":"lab_003","finished_at":"2026-09-04T10:01:29"}
+{"episode_id":"ep_000063","started_at":"2026-09-04T10:01:32","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[0.5405524922904574,-1.4918927534196254,0.71338606911949],"aabb_xy":[[0.5230524920311209,-1.5059842956083982],[0.5580524925497942,-1.4778012112308527]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.2146651529629217,1.3948710267924525,0.71338606911949],"aabb_xy":[[-0.22659788732474978,1.382488873984593],[-0.20273241860109364,1.4072531796003118]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[0.5161300062332146,-1.1076010217205925,0.71338606911949],"aabb_xy":[[0.5114948910809811,-1.1114683567977408],[0.5207651213854478,-1.1037336866434437]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.6264249254975266,0.6510956901614051,0.71338606911949],"aabb_xy":[[-0.6840553943847973,0.5910956912346943],[-0.5687944566102556,0.7110956890881155]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.02214294600897182,-1.1667602599313946,0.71338606911949],"aabb_xy":[[-0.059177055437031535,-1.201137467265104],[0.014891163419087895,-1.1323830525976852]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.06515774728583457,0.3772627709849159,0.71338606911949],"aabb_xy":[[-0.11515774764640062,0.3272827837753129],[-0.015157746925268499,0.4272427581945188]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[0.5327860820630572,-0.9600552580125961,0.71338606911949],"aabb_xy":[[0.5240881197723419,-0.9721802323200709],[0.5414840443537725,-0.9479302837051214]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.5230232237827693,1.5061554134412476,0.71338606911949],"aabb_xy":[[-0.5870189211778658,1.4421554151405385],[-0.45902752638767264,1.5701554117419558]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[0.6486341841247016,0.8923657992081209,0.71338606911949],"aabb_xy":[[0.6342997589985382,0.880305583653582],[0.6629686092508651,0.9044260147626597]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[0.6376260582192526,-1.5377051156789514,0.71338606911949],"aabb_xy":[[0.6026260590264343,-1.5486721616766141],[0.6726260574120708,-1.5267380696812887]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.08062810445543878,-1.4956803177080062,0.71338606911949],"aabb_xy":[[0.0006281022926762775,-1.5756355013341496],[0.16062810661820126,-1.4157251340818624]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[-0.1956448150131853,0.5952395731649123,0.71338606911949],"aabb_xy":[[-0.25964481229883396,0.5537328542120683],[-0.13164481772753667,0.6367462921177562]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.6546116045483988,0.19355927605823497,0.71338606911949],"aabb_xy":[[-0.667483508049339,0.11355927564439884],[-0.6417397010474587,0.2735592764720711]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[0.15630963209933213,1.0610603109469077,0.71338606911949],"aabb_xy":[[0.11412521793850142,0.9970603106696965],[0.1984940462601629,1.1250603112241189]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[0.3072509531078187,1.3353910750996412,0.71338606911949],"aabb_xy":[[0.2847509530976704,1.3212948554600379],[0.329750953117967,1.3494872947392444]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.25792580094218776,-1.9787161710278864,0.71338606911949],"aabb_xy":[[-0.33792580420003066,-2.0587126788198704],[-0.17792579768434474,-1.8987196632359025]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.591584413489755,0.052433441566779315,0.71338606911949],"aabb_xy":[[0.5690879920558908,0.02993344176003187],[0.614080834923619,0.07493344137352675]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.29642628004343274,1.7869018423547254,0.71338606911949],"aabb_xy":[[0.25142627857720395,1.741901985493245],[0.34142628150966164,1.8319016992162063]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.6195802715845347,-0.5372989170382514,0.71338606911949],"aabb_xy":[[0.5909309392241184,-0.5659444763153271],[0.6482296039449509,-0.5086533577611755]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[-0.2560244958996509,-0.79505991097365,0.71338606911949],"aabb_xy":[[-0.336024499163664,-0.8086199432825634],[-0.17602449263563774,-0.7814998786647367]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[0.4054998309224198,0.08667969422610744,0.71338606911949],"aabb_xy":[[0.39940520303430155,0.07811029967443872],[0.4115944588105382,0.09524908877777616]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.6394294071115862,1.1521014306894295,0.71338606911949],"aabb_xy":[[0.6261984615769048,1.1388740116674299],[0.6526603526462674,1.1653288497114287]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[0.5313242578108941,-1.8633147058471717,0.71338606911949],"aabb_xy":[[0.5067780421881433,-1.8935636023962086],[0.5558704734336447,-1.8330658092981345]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[0.5550979388109378,0.6452587240116436,0.71338606911949],"aabb_xy":[[0.5487858392745995,0.6394917847584249],[0.5614100383472762,0.6510256632648626]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[-0.6343651032774498,-0.8756823539385761,0.71338606911949],"aabb_xy":[[-0.6510422392705454,-0.8923822779125063],[-0.6176879672843544,-0.8589824299646458]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[0.560482256588579,1.5288108918824128,0.71338606911949],"aabb_xy":[[0.5473310106172896,1.5038108921257263],[0.5736335025598683,1.5538108916390994]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[-0.6301401423095686,-0.6455558815193108,0.71338606911949],"aabb_xy":[[-0.655360979169408,-0.6707796323721974],[-0.6049193054497287,-0.6203321306664239]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[0.5517998521453418,0.8203629060207991,0.71338606911949],"aabb_xy":[[0.5218322952355161,0.7903629057229133],[0.5817674090551674,0.8503629063186848]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[-0.07814904591997085,1.445764811341094,0.71338606911949],"aabb_xy":[[-0.14214904619394908,1.395698711143806],[-0.014149045645992606,1.4958309115383819]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_29","position":[-0.2832021188910898,-0.5792712953389163,0.71338606911949],"aabb_xy":[[-0.30011285132743154,-0.5927435009315307],[-0.266291386454748,-0.5657990897463017]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[0.045530849100372306,-2.010777960206767,0.71338606911949],"aabb_xy":[[0.028030848855322924,-2.0282777480463334],[0.06303084934542169,-1.9932781723672]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_31","position":[-0.5088350080534974,-0.16776734573217889,0.71338606911949],"aabb_xy":[[-0.5148015469942331,-0.17372849039154292],[-0.5028684691127616,-0.16180620107281485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6553298911196649,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9001.png","name":"9001"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9001.png","name":"9001"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2924.png","name":"2924"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6766.png","name":"6766"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8597.png","name":"8597"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5065.png","name":"5065"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":754.6255365340155,"rotation_z_degrees":59.0437879477239,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006281826396027715,-0.0031370481211171614,0.005183680988070823]},{"name":"camera_2","offset_m":[-0.005980256895609434,0.013014525319541916,0.018230627177842334]},{"name":"camera_3","offset_m":[0.01459320855787469,-0.004603743295762391,0.009280360070834378]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016463265048042844,-0.001858719634536651,-0.001832580763392024],"end_effector_yaw_offset_degrees":-0.6092947749073476},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008613191633399988,-0.0009238511656685122,0.00011885591995219836],"end_effector_yaw_offset_degrees":-0.32109763939932456},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007473095210891755,-0.0009158729020170586,0.0016042030948537987],"end_effector_yaw_offset_degrees":-0.5634158252012766}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027803270231732424,0.00033619219020965003],"position_m":[0.19411967297682675,0.3080361921902096,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006035427456892936,0.004350518776311097],"position_m":[0.2431964572543107,-0.3298494812236889,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004786015720667602,0.00026010731382529635],"position_m":[0.2957860157206676,-0.0767398926861747,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003861273845718392,0.0032133156545288083],"position_m":[0.3344612738457184,0.08411331565452881,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c212fc4f3ec45797d04f773b8227933e7fa4f121280bf613371ec043c9ab1a92","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9001/tex_ceiling_textures_5065/tex_floor_textures_8597/tex_table_textures_2924/tex_wall_textures_6766","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7787536543323383887,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7787536543323383887,"visual_seed":7787536543323383887,"scene_id":"lab_003","finished_at":"2026-09-04T10:04:30"}
+{"episode_id":"ep_000064","started_at":"2026-09-04T10:04:33","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.32975311999215307,1.134102708790834,0.71338606911949],"aabb_xy":[[0.27975311870831304,1.0841238544002116],[0.379753121275993,1.1840815631814559]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[-0.0675041044577328,-0.04818811060614481,0.71338606911949],"aabb_xy":[[-0.13150410174338145,-0.08969482955898878],[-0.0035041071720841727,-0.006681391653300839]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[-0.4223188076540461,0.5070286742674597,0.71338606911949],"aabb_xy":[[-0.4557979749150871,0.4735495608963528],[-0.3888396403930052,0.5405077876385668]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_3","position":[-0.17329654438483177,-1.3379812324786868,0.71338606911949],"aabb_xy":[[-0.18589924352190823,-1.3505766287035523],[-0.16069384524775532,-1.3253858362538213]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.20526952726924041,-0.2937192672182052,0.71338606911949],"aabb_xy":[[-0.22227962455929104,-0.30985375571647905],[-0.18825942997918974,-0.2775847787199312]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[0.017673396482803194,-0.7811099567320641,0.71338606911949],"aabb_xy":[[0.00954570828948997,-0.7900235651427718],[0.02580108467611641,-0.7721963483213565]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.4235844535031775,-1.8492474506232877,0.71338606911949],"aabb_xy":[[-0.47858445170492225,-1.889769417249725],[-0.3685844553014326,-1.8087254839968498]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.5533325000698227,-0.9700378888557468,0.71338606911949],"aabb_xy":[[-0.6032151969475189,-1.0200378881020216],[-0.5034498031921265,-0.9200378896094722]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.6414173775418669,-0.234856317889248,0.71338606911949],"aabb_xy":[[-0.6664173770936054,-0.24499880175438274],[-0.6164173779901284,-0.2247138340241133]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.27073714702035656,-1.4627572630046468,0.71338606911949],"aabb_xy":[[0.2657811268354754,-1.4852572632067687],[0.27569316720523773,-1.4402572628025254]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[0.3776853363628696,-1.389510571896627,0.71338606911949],"aabb_xy":[[0.34035405983762707,-1.4241636266914792],[0.41501661288811226,-1.3548575171017747]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.0637225787599609,1.6874486545876706,0.71338606911949],"aabb_xy":[[0.028722579567142623,1.6764816085900076],[0.09872257795277915,1.6984157005853326]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[-0.6330125332403843,-0.131447038571753,0.71338606911949],"aabb_xy":[[-0.6431655487945336,-0.16751658014449328],[-0.6228595176862348,-0.0953774969990126]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.5134644973799026,1.780837657562238,0.71338606911949],"aabb_xy":[[-0.5195015103805675,1.7748109564932901],[-0.507427484379238,1.7868643586311863]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.5710627120533435,0.9347352095959538,0.71338606911949],"aabb_xy":[[-0.6085627122252154,0.9020344742130465],[-0.5335627118814715,0.9674359449788609]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.5507616750441433,-0.6224017775255799,0.71338606911949],"aabb_xy":[[0.5007616736832561,-0.6723796821009955],[0.6007616764050305,-0.5724238729501643]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[0.40571429833869477,-0.903893045551192,0.71338606911949],"aabb_xy":[[0.38816760342257584,-0.9413930471154434],[0.4232609932548137,-0.8663930439869408]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[-0.4672879716292321,1.5209878551546008,0.71338606911949],"aabb_xy":[[-0.5472879702165514,1.4416722532164399],[-0.38728797304191265,1.6003034570927617]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[-0.11427788932511251,1.7758101154620314,0.71338606911949],"aabb_xy":[[-0.13719360221016247,1.752905818325608],[-0.09136217644006264,1.798714412598455]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.06435979957091886,-0.6768076587972136,0.71338606911949],"aabb_xy":[[-0.06925909187748235,-0.7044845780997823],[-0.05946050726435535,-0.6491307394946447]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[-0.28033393159114706,-1.8595142248950132,0.71338606911949],"aabb_xy":[[-0.2851775263523771,-1.8643658773739973],[-0.27549033682991714,-1.854662572416029]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[0.41260944439123204,0.43479135295882765,0.71338606911949],"aabb_xy":[[0.39440362072998436,0.423765952376836],[0.4308152680524797,0.4458167535408193]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[0.05393050173450742,-1.2744187321316989,0.71338606911949],"aabb_xy":[[-0.02979172376557504,-1.3644187356663948],[0.13765272723458988,-1.184418728597003]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[-0.6535855594014411,0.3451052611922325,0.71338606911949],"aabb_xy":[[-0.6910855600660197,0.32941820319201026],[-0.6160855587368623,0.36079231919245464]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[-0.28966721948853297,-0.8844081404836759,0.71338606911949],"aabb_xy":[[-0.33483853733670194,-0.9484081376282144],[-0.244495901640364,-0.8204081433391376]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[-0.3737487078088506,0.0407778664355658,0.71338606911949],"aabb_xy":[[-0.38316618237871336,0.03136168929784677],[-0.36433123323898786,0.05019404357328483]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_26","position":[0.31164823808848063,1.5792014868319977,0.71338606911949],"aabb_xy":[[0.2565230324588898,1.5192014853907108],[0.36677344371807136,1.639201488273285]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[0.6367405490742546,0.6530395876745421,0.71338606911949],"aabb_xy":[[0.5992405475586229,0.641812814658397],[0.6742405505898863,0.6642663606906871]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6614569305452025,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3631.png","name":"3631"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3631.png","name":"3631"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3514.png","name":"3514"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6680.png","name":"6680"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6681.png","name":"6681"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9432.png","name":"9432"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":600.2455118435596,"rotation_z_degrees":337.20347625659304,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0033942795484141856,-0.008878680584078813,0.015089580477787922]},{"name":"camera_2","offset_m":[-0.016686605021038706,0.0181396937671038,-0.002790400353199572]},{"name":"camera_3","offset_m":[0.014490465448239228,-0.017219027085105813,-0.0009581462117345015]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001337935635268695,-0.0010592218333113142,0.0010475488220358016],"end_effector_yaw_offset_degrees":-0.15810818173104457},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.820258741792001e-05,-0.000591382572835386,0.0003321153970351526],"end_effector_yaw_offset_degrees":0.12628443120927013},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008313325781404784,-0.0005713128872670255,0.00044029777167799763],"end_effector_yaw_offset_degrees":-0.08364973390158204}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004920400412558634,0.00266411515082009],"position_m":[0.19197959958744135,0.3103641151508201,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032213862241357036,-0.001243217143508557],"position_m":[0.2470213862241357,-0.33544321714350855,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006006784534099063,-0.00447857969424199],"position_m":[0.2903993215465901,-0.08147857969424199,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002405226603319063,0.0022469629036410968],"position_m":[0.3308405226603319,0.0831469629036411,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"794ccafd46ff743142269f7b82001474379f1eca1728368a879a17d866c0496f","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3631/tex_ceiling_textures_9432/tex_floor_textures_6681/tex_table_textures_3514/tex_wall_textures_6680","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8164147956352674842,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8164147956352674842,"visual_seed":8164147956352674842,"scene_id":"lab_003","finished_at":"2026-09-04T10:07:35"}
+{"episode_id":"ep_000065","started_at":"2026-09-04T10:07:39","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[-0.16415980722828394,-1.145592271739139,0.71338606911949],"aabb_xy":[[-0.229159805384203,-1.171888516289051],[-0.09915980907236488,-1.1192960271892267]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[0.5901018348149007,-2.2220298521244386,0.71338606911949],"aabb_xy":[[0.5852582400536708,-2.2268815046034227],[0.5949454295761307,-2.2171781996454545]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.3187341120839062,-0.45388569431901216,0.71338606911949],"aabb_xy":[[-0.33564484452024784,-0.46735789991162663],[-0.3018233796475643,-0.4404134887263976]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.112710137090961,1.7711745453685137,0.71338606911949],"aabb_xy":[[-0.1767101342030667,1.722142175574103],[-0.048710139978855316,1.8202069151629243]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.46117572443553767,0.5136729574246681,0.71338606911949],"aabb_xy":[[0.4236757236435422,0.507305116466478],[0.4986757252275331,0.5200407983828582]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.6491130183868565,1.727506279548543,0.71338606911949],"aabb_xy":[[0.6147967412122386,1.6775062795753652],[0.6834292955614745,1.7775062795217207]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[0.6192577212375747,-0.8262097708432143,0.71338606911949],"aabb_xy":[[0.6122174113040377,-0.906209770242886],[0.6262980311711117,-0.7462097714435431]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[0.5496990629230245,1.8084598232018094,0.71338606911949],"aabb_xy":[[0.532199129489041,1.790959823281575],[0.5671989963570078,1.8259598231220442]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[0.1122052076946305,1.2409254232739082,0.71338606911949],"aabb_xy":[[0.10589310815829205,1.235158484020689],[0.11851730723096891,1.246692362527127]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.40063161219026666,-2.1906096884515085,0.71338606911949],"aabb_xy":[[-0.480631609349842,-2.202157289409325],[-0.32063161503069143,-2.179062087493691]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[-0.06281715367127394,1.1168091764338404,0.71338606911949],"aabb_xy":[[-0.07103169878695789,1.1081325861361986],[-0.05460260855558994,1.1254857667314813]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[0.34513227338840435,-2.2924880079009657,0.71338606911949],"aabb_xy":[[0.34049715823617094,-2.296355342978114],[0.34976738854063766,-2.2886206728238165]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[0.5744958498435491,-1.4579361878376362,0.71338606911949],"aabb_xy":[[0.5710551736034919,-1.461797620812001],[0.5779365260836062,-1.454074754863272]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[0.6068362354292067,-1.3178473158540311,0.71338606911949],"aabb_xy":[[0.5889671276747512,-1.3316802238312422],[0.6247053431836622,-1.3040144078768205]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[-0.21959473483067304,-0.2862519625057418,0.71338606911949],"aabb_xy":[[-0.25692601135591564,-0.32090501730059406],[-0.18226345830543045,-0.25159890771088944]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[0.297022377557716,1.7424231279240794,0.71338606911949],"aabb_xy":[[0.290608563914531,1.736013307676411],[0.3034361912009009,1.7488329481717477]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.031246797711729002,0.8752304637370711,0.71338606911949],"aabb_xy":[[-0.05341932468837983,0.8530547965809477],[-0.009074270735078162,0.8974061308931941]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[0.36060053855637286,-1.8314339533351034,0.71338606911949],"aabb_xy":[[0.33676432091576786,-1.9214339541435903],[0.38443675619697804,-1.7414339525266174]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.3854417279772593,1.5674338324982453,0.71338606911949],"aabb_xy":[[0.3591529036568186,1.5411623988435936],[0.41173055229769995,1.593705266152896]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.5014667092374074,-1.5369439809920693,0.71338606911949],"aabb_xy":[[0.4883154632661181,-1.561943980748756],[0.5146179552086968,-1.511943981235383]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.21555898266637175,1.3027882024493138,0.71338606911949],"aabb_xy":[[0.19527467994297296,1.2825055773066047],[0.23584328538977048,1.3230708275920224]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[0.1843127978718231,-0.5586837277979035,0.71338606911949],"aabb_xy":[[0.17897522220581855,-0.5836837287270433],[0.18965037353782768,-0.5336837268687638]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[-0.1936390803723932,-1.999901898856635,0.71338606911949],"aabb_xy":[[-0.19734234170153203,-2.0036039171653526],[-0.1899358190432543,-1.9961998805479169]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.572492645341548,-1.7685011903894883,0.71338606911949],"aabb_xy":[[0.5495769324564981,-1.791405487525912],[0.5954083582265979,-1.745596893253065]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.48849729368688344,-1.9139465508629716,0.71338606911949],"aabb_xy":[[-0.5004300280487115,-1.926328703670831],[-0.47656455932505537,-1.9015643980551122]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[0.5288448172863336,1.1852068890887768,0.71338606911949],"aabb_xy":[[0.5159729137853934,1.1052068886749404],[0.5417167207872737,1.2652068895026127]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_26","position":[-0.10457293680180968,-1.6465710883013072,0.71338606911949],"aabb_xy":[[-0.11974510608344302,-1.6617399452295105],[-0.08940076752017634,-1.6314022313731038]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[0.138499946179112,-1.7151265573378915,0.71338606911949],"aabb_xy":[[0.0886172493014158,-1.7651265565841667],[0.18838264305680824,-1.6651265580916172]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_28","position":[-0.07341204498273735,-0.7568919374210279,0.71338606911949],"aabb_xy":[[-0.07784267433757752,-0.7623403091557106],[-0.06898141562789717,-0.7514435656863454]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_29","position":[0.3709701565094048,1.232817158629108,0.71338606911949],"aabb_xy":[[0.3209751455499528,1.1828171595935162],[0.4209651674688569,1.2828171576646996]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_30","position":[-0.19754080332704538,-0.5430375317355436,0.71338606911949],"aabb_xy":[[-0.2166531106850242,-0.5621723106127856],[-0.1784284959690665,-0.5239027528583016]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_31","position":[0.5363657377143116,-0.7885725626462226,0.71338606911949],"aabb_xy":[[0.529864101206307,-0.7983403846725323],[0.5428673742223162,-0.7788047406199128]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_32","position":[0.4712411923225788,-0.5523683809743525,0.71338606911949],"aabb_xy":[[0.421424412857744,-0.6023683794586558],[0.5210579717874135,-0.5023683824900491]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6601627458972986,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4166.png","name":"4166"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4166.png","name":"4166"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4935.png","name":"4935"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3873.png","name":"3873"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7225.png","name":"7225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4100.png","name":"4100"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":675.3502765336854,"rotation_z_degrees":277.49943146628533,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012084371133263671,0.011517607144659912,-0.0073674799100797595]},{"name":"camera_2","offset_m":[0.013646286466101876,-0.01983148247061347,-0.001681024623511499]},{"name":"camera_3","offset_m":[-0.009278758276721689,0.001010472608416163,-0.005699291287141098]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015691209429963826,0.0012779738031000387,0.0015453168941066452],"end_effector_yaw_offset_degrees":0.31762615675238415},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007232444396591715,-0.0013540656607603752,-0.0010904363305906922],"end_effector_yaw_offset_degrees":0.5118409327095201},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00043878493583698343,-0.0016356376432463922,0.0010898963565476065],"end_effector_yaw_offset_degrees":0.4221654373055699}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036603399447492245,-0.0035703719406598175],"position_m":[0.20056033994474923,0.30412962805934013,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00348056317518551,0.0017602226357188435],"position_m":[0.24728056317518549,-0.33243977736428115,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029271447013201743,-0.0010244854907304323],"position_m":[0.29392714470132014,-0.07802448549073043,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014199743571677147,-0.0009984801853656798],"position_m":[0.33201997435716774,0.07990151981463432,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"572ebbdc49598c3a904f54baf6b59d9590e9519c6ee6dc1b43b79d3adab6b0c5","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0065.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4166/tex_ceiling_textures_4100/tex_floor_textures_7225/tex_table_textures_4935/tex_wall_textures_3873","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8283963899039171628,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8283963899039171628,"visual_seed":8283963899039171628,"scene_id":"lab_003","finished_at":"2026-09-04T10:10:34"}
+{"episode_id":"ep_000066","started_at":"2026-09-04T10:10:38","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.6372716736294984,-0.2062203778658298,0.71338606911949],"aabb_xy":[[-0.641185546824921,-0.21496939327238657],[-0.6333578004340759,-0.19747136245927305]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.4857211686020345,-1.2173766654716303,0.71338606911949],"aabb_xy":[[-0.5279055827628654,-1.2813766657488415],[-0.44353675444120383,-1.153376665194419]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.5104312592499595,0.47981697536478096,0.71338606911949],"aabb_xy":[[-0.5230580465371557,0.47027090166320806],[-0.497804471962763,0.48936304906635386]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[0.3390032733745849,-1.8821348671769937,0.71338606911949],"aabb_xy":[[0.32859171469410114,-1.8874806005128921],[0.34941483205506857,-1.8767891338410954]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.36816197858992794,-1.7519976595101148,0.71338606911949],"aabb_xy":[[0.34316197931796566,-1.7683430231062771],[0.3931619778618902,-1.7356522959139524]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.4514843254138138,1.5495018524135609,0.71338606911949],"aabb_xy":[[-0.4575213384144785,1.5434751513446132],[-0.44544731241314905,1.5555285534825094]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.545798609697649,1.0111129396774832,0.71338606911949],"aabb_xy":[[-0.625798606711897,0.9909783880040719],[-0.46579861268340106,1.0312474913508944]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.14840824568551192,1.6557357333645792,0.71338606911949],"aabb_xy":[[-0.15248640359256166,1.6516547531163157],[-0.14433008777846218,1.6598167136128423]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.2737791522761991,-2.3542126131910055,0.71338606911949],"aabb_xy":[[0.2237791506147043,-2.404211055446708],[0.3237791539376938,-2.304214170935303]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[0.3906635682912927,-0.3713278984226691,0.71338606911949],"aabb_xy":[[0.36816356847739035,-0.3758025147931498],[0.4131635681051951,-0.3668532820521884]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[-0.6731353246541639,-1.1779922767368294,0.71338606911949],"aabb_xy":[[-0.6913411483154116,-1.1890176773188212],[-0.6549295009929162,-1.166966876154838]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[-0.11547090624294587,-0.027545289995637656,0.71338606911949],"aabb_xy":[[-0.12703988698988244,-0.052545290112569365],[-0.10390192549600931,-0.002545289878705951]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[-0.15919526560488917,-2.3546817109363958,0.71338606911949],"aabb_xy":[[-0.22078602482888202,-2.418681709045443],[-0.09760450638089638,-2.2906817128273493]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.6262909466553042,0.6305916165258219,0.71338606911949],"aabb_xy":[[0.5918284686422164,0.6239279393428989],[0.6607534246683919,0.6372552937087446]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[0.47211388935017284,-1.276003270372491,0.71338606911949],"aabb_xy":[[0.46203218227159926,-1.3560032682646055],[0.4821955964287462,-1.1960032724803762]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.40220462774952415,-2.5369953357756017,0.71338606911949],"aabb_xy":[[0.38231358786918396,-2.549651147060299],[0.42209566762986445,-2.5243395244909053]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[0.18456790098436582,0.6944696530463266,0.71338606911949],"aabb_xy":[[0.1345904841191122,0.6444696515570779],[0.23454531784961938,0.744469654535575]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[0.25657960588858586,1.1405638516630474,0.71338606911949],"aabb_xy":[[0.2469479696681562,1.1309265388833383],[0.2662112421090154,1.150201164442756]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.6501695611212563,0.9193307165149025,0.71338606911949],"aabb_xy":[[0.6425452930310782,0.9116974929783589],[0.6577938292114347,0.9269639400514463]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[-0.3945123270060182,-0.21140699888195957,0.71338606911949],"aabb_xy":[[-0.4019247825474067,-0.21725820930358752],[-0.38709987146462976,-0.20555578846033162]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[0.2963398264563575,-1.5199813192872307,0.71338606911949],"aabb_xy":[[0.2658555763293273,-1.5699813190687264],[0.32682407658338763,-1.4699813195057345]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.22396995128974723,1.1218325257816377,0.71338606911949],"aabb_xy":[[-0.26146995178710547,1.117863842233519],[-0.18646995079238898,1.125801209329756]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.15821803257474498,0.8987648937915709,0.71338606911949],"aabb_xy":[[-0.16311732488130845,0.8710879744890021],[-0.15331874026818146,0.9264418130941396]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[-0.45238687320345056,-1.6329799701384011,0.71338606911949],"aabb_xy":[[-0.45869897273978893,-1.6387469093916203],[-0.44607477366711207,-1.6272130308851824]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[-0.5624579969618958,1.4652394538248523,0.71338606911949],"aabb_xy":[[-0.6124312909651561,1.4152394532703048],[-0.5124847029586352,1.5152394543793994]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[-0.06294711833199063,0.7317360462475371,0.71338606911949],"aabb_xy":[[-0.10793970505044104,0.6867360469730882],[-0.017954531613540214,0.7767360455219857]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6603672437480481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/857.png","name":"857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/857.png","name":"857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4462.png","name":"4462"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4460.png","name":"4460"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8083.png","name":"8083"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2730.png","name":"2730"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":821.2213293337843,"rotation_z_degrees":240.12172555050222,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015163367302028743,0.009372156708235647,0.009475953146493219]},{"name":"camera_2","offset_m":[-0.019079816423670168,-0.0075403266641637864,-0.0028530742957659193]},{"name":"camera_3","offset_m":[0.0034125762676967056,-0.009241513019161762,-0.01940237068503094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00018457421956461677,0.00031267597155075055,-0.0016940356072726091],"end_effector_yaw_offset_degrees":0.7499719355308798},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010377807187835464,0.00146347930173856,-0.0019263611269270489],"end_effector_yaw_offset_degrees":-0.93209745828205},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001762962899005533,0.001913047853028661,-0.0015453253487459212],"end_effector_yaw_offset_degrees":-0.12804698308254525}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00105908306456084,0.004048643230585499],"position_m":[0.19584091693543915,0.3117486432305855,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013623823405349298,-0.0022489405269992113],"position_m":[0.24516238234053492,-0.3364489405269992,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00033308277083067203,-0.0011242554017837003],"position_m":[0.2906669172291693,-0.0781242554017837,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001864215416836408,0.0014462512446094741],"position_m":[0.3324642154168364,0.08234625124460948,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"133449d4cecc5d7ae9185eba1ed64ad9adea96a0f77434d365bb3800b15126b8","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_857/tex_ceiling_textures_2730/tex_floor_textures_8083/tex_table_textures_4462/tex_wall_textures_4460","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4553504541677939568,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4553504541677939568,"visual_seed":4553504541677939568,"scene_id":"lab_003","finished_at":"2026-09-04T10:13:37"}
+{"episode_id":"ep_000067","started_at":"2026-09-04T10:13:40","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[-0.5828974739022172,-2.0876644588680744,0.71338606911949],"aabb_xy":[[-0.6078974734539556,-2.097806942733209],[-0.5578974743504787,-2.0775219750029397]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[0.3711476626925194,-2.430983047926288,0.71338606911949],"aabb_xy":[[0.2911538391139612,-2.51098305051913],[0.45114148627107764,-2.350983045333447]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[0.4792037197985899,0.6289966187560596,0.71338606911949],"aabb_xy":[[0.46165702488247096,0.5914966171918085],[0.4967504147147088,0.666496620320311]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.05644054992773717,1.6225453322839116,0.71338606911949],"aabb_xy":[[-0.06560042887161377,1.6160141142403748],[-0.04728067098386057,1.629076550327449]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[0.28072394835460845,1.2327222019776625,0.71338606911949],"aabb_xy":[[0.2007239511950331,1.2211746010198452],[0.3607239455141837,1.2442698029354793]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[-0.5509161273487257,-1.1164940444366582,0.71338606911949],"aabb_xy":[[-0.558540395438904,-1.1241272679732022],[-0.5432918592585475,-1.1088608209001147]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[0.2817193899688777,1.6122597438658297,0.71338606911949],"aabb_xy":[[0.2267193907922882,1.5572700690908718],[0.3367193891454672,1.6672494186407871]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[0.06312589965646553,1.2859686191931075,0.71338606911949],"aabb_xy":[[0.045625900522098355,1.2760889921555194],[0.08062589879083269,1.295848246230695]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.427559875448717,-2.5047678739937007,0.71338606911949],"aabb_xy":[[-0.4520734995457229,-2.529032467295737],[-0.4030462513517112,-2.4805032806916643]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[-0.3621486374970826,-0.3089225951224104,0.71338606911949],"aabb_xy":[[-0.40927801649891826,-0.3729225961668123],[-0.3150192584952469,-0.24492259407800837]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[0.575042409483689,-2.0137356011386953,0.71338606911949],"aabb_xy":[[0.5525424092401737,-2.0259402357984677],[0.5975424097272045,-2.001530966478924]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.38695921684160073,-1.578849231641367,0.71338606911949],"aabb_xy":[[0.3640435039565508,-1.6017535287777906],[0.4098749297266506,-1.5559449345049436]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[-0.6306542700089779,-0.9767419274443785,0.71338606911949],"aabb_xy":[[-0.6556542691746109,-0.983694173149735],[-0.6056542708433447,-0.9697896817390218]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[-0.5330016880299697,0.7348485405565182,0.71338606911949],"aabb_xy":[[-0.5680016871599253,0.729103319480854],[-0.49800168890001395,0.7405937616321823]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.09706559694409678,-0.6416427572886974,0.71338606911949],"aabb_xy":[[0.09065178330091182,-0.6480525775363656],[0.1034794105872817,-0.6352329370410289]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[-0.12449745913651045,-1.3140065628549806,0.71338606911949],"aabb_xy":[[-0.18849746104885282,-1.3699177121129913],[-0.06049745722416813,-1.2580954135969704]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[0.35120272942899033,1.134537887541332,0.71338606911949],"aabb_xy":[[0.3062027279627615,1.0895380306798512],[0.39620273089521924,1.1795377444028126]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[0.5005179483018671,0.9068319505709566,0.71338606911949],"aabb_xy":[[0.48966634205299153,0.8959726598433054],[0.5113695545507427,0.9176912412986075]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[0.038291934639185676,-2.2042745831794988,0.71338606911949],"aabb_xy":[[0.03295435897318111,-2.2292745841086385],[0.043629510305190244,-2.179274582250359]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[-0.33673291416705925,-0.632835732504631,0.71338606911949],"aabb_xy":[[-0.3777508575534302,-0.6828357331355883],[-0.2957149707806884,-0.5828357318736737]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[0.30876595970137966,0.8316996404399841,0.71338606911949],"aabb_xy":[[0.2862659598874772,0.8272250240695034],[0.331265959515282,0.8361742568104649]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.643601606479743,1.6757407639064508,0.71338606911949],"aabb_xy":[[0.5796016093676373,1.6267083941120404],[0.7076016035918486,1.7247731337008616]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.33623475442443307,-1.9894426013299278,0.71338606911949],"aabb_xy":[[0.31802893076318545,-2.000468001911919],[0.3544405780856808,-1.9784172007479364]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_23","position":[0.43246401477356144,-1.3154137033485762,0.71338606911949],"aabb_xy":[[0.38246401533336577,-1.3653816278328923],[0.482464014213757,-1.2654457788642597]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_24","position":[0.6285199771224026,-0.04386584925680781,0.71338606911949],"aabb_xy":[[0.5585199807124405,-0.06430378490848951],[0.6985199735323641,-0.023427913605126065]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[0.4213334215033695,-0.6089097092416365,0.71338606911949],"aabb_xy":[[0.35133341811180746,-0.6442254829450672],[0.4913334248949314,-0.5735939355382055]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_26","position":[-0.5591434304104004,1.652121489399391,0.71338606911949],"aabb_xy":[[-0.595993978347388,1.6146214885763575],[-0.5222928824734128,1.689621490222425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6575605458741308,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1130.png","name":"1130"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1130.png","name":"1130"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/680.png","name":"680"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2106.png","name":"2106"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5879.png","name":"5879"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6776.png","name":"6776"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":805.0648610971509,"rotation_z_degrees":333.06498239178393,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001600225709222327,0.009670502245241727,0.0010549682584738845]},{"name":"camera_2","offset_m":[0.013347580787177963,-0.016149809786835084,-0.008753788310894852]},{"name":"camera_3","offset_m":[0.012488823334183382,-0.003726211322793292,-0.00041341419757999487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001531942801441283,-0.0011336481119163255,-0.0006209696964982205],"end_effector_yaw_offset_degrees":0.017516513535993594},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018275982455968585,0.0008950306116179683,0.0006672528939481964],"end_effector_yaw_offset_degrees":-0.7903205318760573},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006690023235210525,-0.00013520966258067182,-0.0015378894919551667],"end_effector_yaw_offset_degrees":-0.07738975232586709}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012146198491820204,0.0007983057948236123],"position_m":[0.19568538015081796,0.30849830579482357,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001283377179620149,0.003158116809114945],"position_m":[0.24508337717962014,-0.33104188319088507,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004799787471923426,0.0027543572752785185],"position_m":[0.2957997874719234,-0.07424564272472148,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037266146363818834,-0.0006091551321763342],"position_m":[0.3343266146363819,0.08029084486782366,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"598de1125ea7d1678a4007dea9fa2669f2fd54b64b67cca9aa0e807f735f40f6","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1130/tex_ceiling_textures_6776/tex_floor_textures_5879/tex_table_textures_680/tex_wall_textures_2106","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1337337500442211354,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1337337500442211354,"visual_seed":1337337500442211354,"scene_id":"lab_003","finished_at":"2026-09-04T10:16:43"}
+{"episode_id":"ep_000068","started_at":"2026-09-04T10:16:49","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.5510911463863841,-0.7800588149904808,0.71338606911949],"aabb_xy":[[-0.6010644403896445,-0.8300588155450281],[-0.5011178523831236,-0.7300588144359335]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.1393485977660378,-1.907884485078288,0.71338606911949],"aabb_xy":[[-0.15692689995498466,-1.925458974652393],[-0.12177029557709096,-1.8903099955041829]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[-0.36321554216833823,0.890810422247823,0.71338606911949],"aabb_xy":[[-0.4272155425458719,0.8410651553970108],[-0.2992155417908047,0.9405556890986353]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.21993197650819818,-2.2059072905196797,0.71338606911949],"aabb_xy":[[0.13993197949395017,-2.2260418421930908],[0.29993197352244616,-2.1857727388462687]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.4531539367153039,-1.9737561877671617,0.71338606911949],"aabb_xy":[[0.38815393571480344,-2.0245425529218366],[0.5181539377158044,-1.9229698226124865]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.2477753836041215,-0.8397185748673581,0.71338606911949],"aabb_xy":[[-0.32777538219144087,-0.919034176805519],[-0.16777538501680203,-0.7604029729291972]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.15380130105877032,0.6252326231242109,0.71338606911949],"aabb_xy":[[-0.16321877562863307,0.6158164459864919],[-0.14438382648890757,0.6346488002619299]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.5432892048507859,1.6916399260413955,0.71338606911949],"aabb_xy":[[-0.6072892051112566,1.6466311266884672],[-0.47928920459031504,1.7366487253943232]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[0.5294695348189133,-1.3903222997235294,0.71338606911949],"aabb_xy":[[0.49196953471332044,-1.3971444615765103],[0.5669695349245063,-1.383500137870548]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.35068793088328815,-2.2618751397031795,0.71338606911949],"aabb_xy":[[-0.35794917845369556,-2.274662149966689],[-0.34342668331288073,-2.24908812943967]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.42611197600075196,-2.0286491603580314,0.71338606911949],"aabb_xy":[[-0.4810856980370849,-2.083649159922264],[-0.37113825396441913,-1.9736491607937978]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[0.5415171777181655,0.48885671822685817,0.71338606911949],"aabb_xy":[[0.5047225445932594,0.4519508431302759],[0.5783118108430719,0.5257625933234404]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[-0.3783939092753271,-1.445383681138164,0.71338606911949],"aabb_xy":[[-0.4333939074770719,-1.4859056477646018],[-0.32339391107358223,-1.4048617145117266]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.09808403809107513,1.0684130768816296,0.71338606911949],"aabb_xy":[[-0.16208403520318082,1.0193807070872187],[-0.03408404097896946,1.11744544667604]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.27411306055439233,-2.083022505426662,0.71338606911949],"aabb_xy":[[0.23661306061062592,-2.0913155954614986],[0.31161306049815873,-2.0747294153918254]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.23234063791412207,-2.3505808375671107,0.71338606911949],"aabb_xy":[[0.20984063790397378,-2.364677057206714],[0.25484063792427036,-2.3364846179275074]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[-0.6800423945926809,1.3610881558863688,0.71338606911949],"aabb_xy":[[-0.6908940008415565,1.3502288651587178],[-0.6691907883438053,1.3719474466140198]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.5452931928262283,0.12459792481797871,0.71338606911949],"aabb_xy":[[0.5077931942506074,0.11186162915442077],[0.582793191401849,0.13733422048153665]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.4995263828971818,-0.0666671663542564,0.71338606911949],"aabb_xy":[[-0.5121531701843781,-0.07621324005582929],[-0.48689959560998536,-0.05712109265268349]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.33423810543299165,-1.112487208832943,0.71338606911949],"aabb_xy":[[-0.39582886465698447,-1.17648720694199],[-0.27264734620899883,-1.0484872107238963]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[-0.5170081820794896,-1.736845013730783,0.71338606911949],"aabb_xy":[[-0.5514706600925773,-1.7435086909137054],[-0.48254570406640174,-1.73018133654786]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6610256625001197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9252.png","name":"9252"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9252.png","name":"9252"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3960.png","name":"3960"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4720.png","name":"4720"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/867.png","name":"867"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9668.png","name":"9668"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":677.2406468214338,"rotation_z_degrees":74.66267147723697,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00942443046230049,-0.011986012409601114,0.005134883551915107]},{"name":"camera_2","offset_m":[-0.009894782360743091,-0.016292663863420383,0.0011014450803056783]},{"name":"camera_3","offset_m":[0.012317180699778777,-0.0015808648536230936,0.0032956514495391075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012550714565088216,-0.00132506231234178,-0.0011424117010297623],"end_effector_yaw_offset_degrees":-0.7268256357938547},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013791019988545878,-0.001547216793068114,-0.0015020052391954068],"end_effector_yaw_offset_degrees":0.9661646635165766},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006437300236030222,-0.00093078330188491,0.0011119504282184832],"end_effector_yaw_offset_degrees":-0.4430701959810599}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0044900157239755305,0.0043052092212331914],"position_m":[0.19240998427602446,0.31200520922123315,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006686217259021087,-0.004703860396086794],"position_m":[0.24446862172590209,-0.3389038603960868,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007342425861586455,-0.002005432549223276],"position_m":[0.29173424258615865,-0.07900543254922328,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007647958329078308,0.002453955371687031],"position_m":[0.32983520416709217,0.08335395537168704,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9eb523ae44c2e47885ee631eaca67094bd50975e91a24d544b178d0197e08726","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9252/tex_ceiling_textures_9668/tex_floor_textures_867/tex_table_textures_3960/tex_wall_textures_4720","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1756640662346289807,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1756640662346289807,"visual_seed":1756640662346289807,"scene_id":"lab_003","finished_at":"2026-09-04T10:19:51"}
+{"episode_id":"ep_000069","started_at":"2026-09-04T10:19:54","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[0.5218745625646404,-0.3263209343910889,0.71338606911949],"aabb_xy":[[0.44188073898608227,-0.40632093698393046],[0.6018683861431987,-0.24632093179824732]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.32811705279630665,1.2288465297208866,0.71338606911949],"aabb_xy":[[-0.3322529091290069,1.1913465302765296],[-0.3239811964636065,1.2663465291652436]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[-0.07751652407288212,0.9852925055356394,0.71338606911949],"aabb_xy":[[-0.1415165254808728,0.9335035540117147],[-0.013516522664891463,1.0370814570595641]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[-0.16379813169398016,0.7482171805152338,0.71338606911949],"aabb_xy":[[-0.2537981284295904,0.6950337171979393],[-0.07379813495836993,0.8014006438325283]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[-0.6465505058162613,1.647909013533083,0.71338606911949],"aabb_xy":[[-0.693679884818097,1.5839090124886808],[-0.5994211268144256,1.7119090145774847]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[-0.6215308528851945,0.25336547333008186,0.71338606911949],"aabb_xy":[[-0.6565308542366761,0.233005737373261],[-0.5865308515337126,0.27372520928690264]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[-0.39275181545745413,1.4695394763866907,0.71338606911949],"aabb_xy":[[-0.39770783564233547,1.447039476184569],[-0.387795795272573,1.4920394765888123]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.6197712806287693,0.4409619724447391,0.71338606911949],"aabb_xy":[[-0.6542336280269109,0.40646809004691636],[-0.5853089332306273,0.47545585484256175]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.3154065323536782,1.62090981926417,0.71338606911949],"aabb_xy":[[-0.38040653023532606,1.5697861555576293],[-0.25040653447203043,1.672033482970711]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.5435992865666985,1.7738958548422645,0.71338606911949],"aabb_xy":[[-0.5470399628067557,1.7700344218679005],[-0.5401586103266414,1.7777572878166295]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.43420203901190657,1.3760598711377616,0.71338606911949],"aabb_xy":[[0.3702020386343729,1.3263146042869491],[0.49820203938944013,1.4258051379885737]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.3828030359386366,-1.9642879363810066,0.71338606911949],"aabb_xy":[[-0.4028614475518769,-1.984353023290164],[-0.36274462432539634,-1.9442228494718492]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[0.5500923511650584,-0.08624651582685194,0.71338606911949],"aabb_xy":[[0.5330822538750077,-0.10238100432512585],[0.567102448455109,-0.070112027328578]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.4705423365489762,0.6044543806834435,0.71338606911949],"aabb_xy":[[-0.4968311608694168,0.5781829470287921],[-0.4442535122285355,0.6307258143380946]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[-0.6441654285402508,-0.4828410016405562,0.71338606911949],"aabb_xy":[[-0.6496233741772708,-0.5628410049482153],[-0.6387074829032306,-0.40284099833289705]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.1250129864595817,1.103833971181495,0.71338606911949],"aabb_xy":[[-0.2050129869297977,1.0955232635671468],[-0.04501298598936577,1.1121446787958433]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.7127444814928041,1.660515826021801,0.71338606911949],"aabb_xy":[[0.7026627744142305,1.5805158281296865],[0.7228261885713775,1.7405158239139158]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.5413204971393459,-1.2120216280509541,0.71338606911949],"aabb_xy":[[-0.631320500816264,-1.273454034628058],[-0.45132049346242764,-1.1505892214738493]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.43857023021933994,-1.0173190593318937,0.71338606911949],"aabb_xy":[[-0.4529046553455034,-1.0293792748864325],[-0.4242358050931765,-1.0052588437773549]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[-0.396360907043578,0.31105364021098536,0.71338606911949],"aabb_xy":[[-0.40514213419081435,0.3022738929224553],[-0.3875796798963419,0.3198333874995156]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[0.6275153778120919,0.8870127434218285,0.71338606911949],"aabb_xy":[[0.577515376861559,0.8554635964183068],[0.6775153787626246,0.9185618904253496]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.3958516780053205,-0.940287380426762,0.71338606911949],"aabb_xy":[[-0.40388801270660535,-0.9483254997311787],[-0.38781534330403566,-0.9322492611223452]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[0.5610536859611683,0.2953680692978953,0.71338606911949],"aabb_xy":[[0.5305694358341381,0.24536806951639933],[0.5915379360881984,0.3453680690793912]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.12464526107469498,1.7404751737949078,0.71338606911949],"aabb_xy":[[-0.17964526025128447,1.6854854990199502],[-0.06964526189810549,1.7954648485698654]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[-0.4867480969071236,-2.4740342167509337,0.71338606911949],"aabb_xy":[[-0.5026325901724487,-2.488387157049758],[-0.4708636036417984,-2.4596812764521103]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[-0.06753447341145236,-2.4053176833856065,0.71338606911949],"aabb_xy":[[-0.12753447366285353,-2.4595990084220714],[-0.007534473160051167,-2.3510363583491425]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[0.7085245516780121,-0.967090471413308,0.71338606911949],"aabb_xy":[[0.6929687822677469,-0.9826409046577154],[0.7240803210882775,-0.951540038168901]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662831577492788,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8724.png","name":"8724"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8724.png","name":"8724"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6896.png","name":"6896"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9127.png","name":"9127"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5357.png","name":"5357"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6351.png","name":"6351"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":616.695004391487,"rotation_z_degrees":238.51199189499198,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005624628844261931,-0.018885844761556272,0.005110874913771456]},{"name":"camera_2","offset_m":[0.0066197757646990485,0.01793904729955106,-0.014275630485666477]},{"name":"camera_3","offset_m":[-0.008996271282088766,0.004263272151533354,-0.0013355555624203173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015064877514505397,0.0019971656335615847,0.0015700953043813705],"end_effector_yaw_offset_degrees":0.21139581677292552},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019185488891583606,-0.0009357648593066,0.00023367993772986737],"end_effector_yaw_offset_degrees":-0.6491005649055213},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011567037610254339,-0.0004692560618013437,-0.001344775538284737],"end_effector_yaw_offset_degrees":0.12643989617950835}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004596810602317814,-0.004150300174851467],"position_m":[0.19230318939768218,0.3035496998251485,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0049163073233543285,-0.0010718448249734574],"position_m":[0.2487163073233543,-0.33527184482497346,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007728785850663533,-0.0017244191114503572],"position_m":[0.2902271214149336,-0.07872441911145035,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008902484226773885,-0.0006742199292651364],"position_m":[0.32970975157732263,0.08022578007073486,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ab369c1add97416671468a95b732b56bf7bb73166eaccf0f174f2f32488f2ca8","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8724/tex_ceiling_textures_6351/tex_floor_textures_5357/tex_table_textures_6896/tex_wall_textures_9127","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1878868355084146934,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1878868355084146934,"visual_seed":1878868355084146934,"scene_id":"lab_003","finished_at":"2026-09-04T10:22:48"}
+{"episode_id":"ep_000070","started_at":"2026-09-04T10:22:51","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[-0.17996739980363374,-0.5154075640355571,0.71338606911949],"aabb_xy":[[-0.24396740214643528,-0.5603484152796895],[-0.11596739746083216,-0.47046671279142455]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[-0.48296681420816423,0.45924873052692483,0.71338606911949],"aabb_xy":[[-0.5469668115105106,0.4148823035590681],[-0.4189668169058178,0.5036151574947816]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[0.5902101658721943,0.1589111660563174,0.71338606911949],"aabb_xy":[[0.5402170537630026,0.10891116538212178],[0.6402032779813863,0.20891116673051308]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.12142770396555347,0.5298929508583967,0.71338606911949],"aabb_xy":[[-0.16659902181372246,0.4658929537138584],[-0.07625638611738451,0.5938929480029352]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[0.527216459225524,0.5353363718235844,0.71338606911949],"aabb_xy":[[0.4922164578740423,0.5149766358667635],[0.5622164605770057,0.5556961077804051]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.5630459028850379,1.0009340537624376,0.71338606911949],"aabb_xy":[[0.521797091855123,0.94593405425022],[0.6042947139149525,1.0559340532746548]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[0.2651549364957936,-2.2631216213750576,0.71338606911949],"aabb_xy":[[0.24927044323046843,-2.277474561673882],[0.28103942976111873,-2.248768681076234]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.3108785394787563,0.7543143293516739,0.71338606911949],"aabb_xy":[[-0.3536452463581765,0.6903143259298714],[-0.26811183259933613,0.8183143327734763]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.09755933082994839,1.5615548885357327,0.71338606911949],"aabb_xy":[[-0.12007302265340558,1.4915548879347251],[-0.0750456390064912,1.6315548891367402]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.607342628097573,1.286070808288419,0.71338606911949],"aabb_xy":[[-0.6873426266848924,1.2067552063502578],[-0.5273426295102536,1.3653864102265796]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.667246914426374,0.41095789000307814,0.71338606911949],"aabb_xy":[[0.6494534074914575,0.3931581444072804],[0.6850404213612904,0.42875763559887575]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.1278447747560557,1.786835542018673,0.71338606911949],"aabb_xy":[[-0.19184477697646274,1.7424624578933847],[-0.06384477253564869,1.8312086261439613]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.32520390935144095,0.9705488366837298,0.71338606911949],"aabb_xy":[[-0.3801993871721003,0.9155488352498229],[-0.2702084315307815,1.0255488381176368]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.4439987119061386,-2.203996649883225,0.71338606911949],"aabb_xy":[[0.4220900297667875,-2.2258973167033154],[0.4659073940454896,-2.182095983063134]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.6078274963403851,-2.3920609344795833,0.71338606911949],"aabb_xy":[[-0.625405798529332,-2.409635424053688],[-0.5902491941514383,-2.374486444905478]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[-0.5390730856242555,1.0573734830123351,0.71338606911949],"aabb_xy":[[-0.5890730869080953,1.0073946286217128],[-0.48907308434041546,1.107352337402957]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.11339117103343854,0.7494980157709445,0.71338606911949],"aabb_xy":[[-0.20339117471035667,0.6880656091938401],[-0.023391167356520356,0.8109304223480487]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[0.47408820964667386,-0.8611891254107096,0.71338606911949],"aabb_xy":[[0.46323660339779826,-0.8720484161383606],[0.48493981589554946,-0.8503298346830586]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.3869835203210002,-0.6558123365617454,0.71338606911949],"aabb_xy":[[-0.4369664705084795,-0.7058123362043057],[-0.3370005701335208,-0.6058123369191849]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.1802156515200103,-1.5759423659221394,0.71338606911949],"aabb_xy":[[0.1722216629423069,-1.5839424460172298],[0.18820964009771368,-1.567942285827049]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.3692865532356521,-2.3474291819576707,0.71338606911949],"aabb_xy":[[-0.4035834642533927,-2.3817260681676116],[-0.33498964221791144,-2.313132295747729]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[0.02904041456810602,-1.2613479838980537,0.71338606911949],"aabb_xy":[[0.02199896361735842,-1.2683747356358483],[0.03608186551885362,-1.254321232160259]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_22","position":[0.44035910241916487,-2.5259413207279904,0.71338606911949],"aabb_xy":[[0.3753591014620377,-2.577889532661696],[0.5053591033762921,-2.473993108794285]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[0.37334058804631165,1.5885161770524276,0.71338606911949],"aabb_xy":[[0.3657163199561334,1.5808829535158841],[0.38096485613648995,1.5961494005889716]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[-0.2173665597184387,0.408940463300274,0.71338606911949],"aabb_xy":[[-0.2523665589112569,0.3979734173026113],[-0.1823665605256204,0.4199075092979366]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[0.4144047842592373,-1.2952061166911624,0.71338606911949],"aabb_xy":[[0.3672754052574016,-1.359206117735564],[0.46153416326107294,-1.2312061156467602]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_26","position":[0.458012342362041,-0.4485284968259067,0.71338606911949],"aabb_xy":[[0.38801234023061143,-0.4712904624516022],[0.5280123444934706,-0.4257665312002109]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[-0.17400566996575917,-1.5296607961003683,0.71338606911949],"aabb_xy":[[-0.1794636156027792,-1.6096607994080274],[-0.16854772432873907,-1.4496607927927092]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_28","position":[-0.10698332930984134,0.36283178770407165,0.71338606911949],"aabb_xy":[[-0.12944809928124645,0.34033178682521115],[-0.08451855933843623,0.38533178858293216]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_29","position":[0.605157161639303,0.2605903135456735,0.71338606911949],"aabb_xy":[[0.5706946836262152,0.2539266363627507],[0.6396196396523908,0.26725399072859635]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[-0.5732561789593752,1.5788395343512724,0.71338606911949],"aabb_xy":[[-0.5907561780937424,1.5689599073136842],[-0.555756179825008,1.5887191613888598]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6606363501943288,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7650.png","name":"7650"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7650.png","name":"7650"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5815.png","name":"5815"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/857.png","name":"857"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6683.png","name":"6683"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8132.png","name":"8132"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":639.0215805780605,"rotation_z_degrees":171.35247320509924,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008191354525438958,0.0041900063339646194,-0.01239196893717839]},{"name":"camera_2","offset_m":[0.0001312605690466928,0.005113231093671379,-0.0038077579643960163]},{"name":"camera_3","offset_m":[0.01794416639254574,0.0042538685591211114,-0.005412781834807699]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012303060354281821,-0.0005771835467927784,0.0015814456096283074],"end_effector_yaw_offset_degrees":0.7177713241611365},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.560802246847355e-05,0.001923168581297984,-0.001462444456386653],"end_effector_yaw_offset_degrees":-0.16316389307138368},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004403162228822969,0.00037094486075888496,0.0014938311070616796],"end_effector_yaw_offset_degrees":0.2634526754024762}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0028862362454042203,0.004451177849410033],"position_m":[0.19401376375459578,0.31215117784941,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036756521700514405,0.0011547206422952653],"position_m":[0.24747565217005144,-0.3330452793577047,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026692628551458174,-0.0003234339723949377],"position_m":[0.2936692628551458,-0.07732343397239494,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011263399023478142,-0.00034012021659573025],"position_m":[0.33172633990234784,0.08055987978340427,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2d64e51dc25ec5767647c5690232133c46dfa93fc4c74897f52d14ad0e6d2d48","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7650/tex_ceiling_textures_8132/tex_floor_textures_6683/tex_table_textures_5815/tex_wall_textures_857","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7601400231824159029,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7601400231824159029,"visual_seed":7601400231824159029,"scene_id":"lab_003","finished_at":"2026-09-04T10:25:42"}
+{"episode_id":"ep_000071","started_at":"2026-09-04T10:25:46","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[0.44448327184619063,-2.2388431800203534,0.71338606911949],"aabb_xy":[[0.42537096448821177,-2.2579779588975954],[0.4635955792041695,-2.2197084011431114]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[-0.5234626593787084,0.16063637790803886,0.71338606911949],"aabb_xy":[[-0.5322647146876811,0.1528250517531098],[-0.5146606040697357,0.16844770406296794]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.08530348789373232,1.1690104942548167,0.71338606911949],"aabb_xy":[[-0.16530348896685265,1.1592324479174323],[-0.005303486820611991,1.1787885405922012]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[0.31919066174348343,1.6273840365826895,0.71338606911949],"aabb_xy":[[0.2979126536000112,1.5623840342566162],[0.3404686698869557,1.6923840389087623]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[0.5131106463582205,-1.1711859795809174,0.71338606911949],"aabb_xy":[[0.4679393285100515,-1.2351859767254558],[0.5582819642063894,-1.107185982436379]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.6319707792038063,0.02152963100515004,0.71338606911949],"aabb_xy":[[0.6226237716215111,0.007226008787506011],[0.6413177867861015,0.03583325322279407]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[0.10045369479491228,-2.4029299247644325,0.71338606911949],"aabb_xy":[[0.09633774468283961,-2.407045479797278],[0.10456964490698493,-2.398814369731587]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.13969565733296108,-1.51552091522648,0.71338606911949],"aabb_xy":[[-0.18094446836287578,-1.5705209147386971],[-0.09844684630304633,-1.4605209157142622]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[-0.00771782161101664,-1.3384611364981105,0.71338606911949],"aabb_xy":[[-0.071717822314486,-1.3844795189710315],[0.056282179092452714,-1.2924427540251895]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[-0.06839481678974269,1.367525676810962,0.71338606911949],"aabb_xy":[[-0.09090850861319986,1.2975256762099543],[-0.04588112496628548,1.4375256774119693]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.5630869069773776,-0.08198801352728635,0.71338606911949],"aabb_xy":[[0.4730869075590066,-0.11536351037147607],[0.6530869063957484,-0.04861251668309663]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.5701549599957285,0.6928464045715907,0.71338606911949],"aabb_xy":[[0.5449341231358886,0.6676226537187038],[0.595375796855568,0.7180701554244773]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.167844078308516,-0.22251141202843394,0.71338606911949],"aabb_xy":[[-0.1786845565350309,-0.23969769331908272],[-0.1570036000820011,-0.2053251307377851]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_13","position":[0.022966661487234474,1.2619604248329441,0.71338606911949],"aabb_xy":[[0.006055929050892697,1.2484882192403295],[0.039877393923576254,1.2754326304255588]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.2593025518847785,-1.325262515501627,0.71338606911949],"aabb_xy":[[-0.2968025518285449,-1.3335556055364637],[-0.22180255194101212,-1.3169694254667905]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[-0.3708320948223913,-0.3186166332797873,0.71338606911949],"aabb_xy":[[-0.45083209183663925,-0.33875118495319856],[-0.2908320978081433,-0.298482081606376]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[-0.34611074517846413,-0.7522420923558495,0.71338606911949],"aabb_xy":[[-0.39610557810640573,-0.8022420912510931],[-0.29611591225052253,-0.7022420934606061]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[-0.16124689496774558,-0.939121392610127,0.71338606911949],"aabb_xy":[[-0.17558132009390903,-0.9511816081646658],[-0.14691246984158213,-0.9270611770555881]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.647260422191545,-2.3425278596471353,0.71338606911949],"aabb_xy":[[-0.6573421292701183,-2.4225278575392495],[-0.6371787151129713,-2.26252786175502]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[-0.6715760234069065,1.3204357136497022,0.71338606911949],"aabb_xy":[[-0.680869641644057,1.2829357151615683],[-0.6622824051697559,1.3579357121378361]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.19090453547973174,-2.0485730722424553,0.71338606911949],"aabb_xy":[[-0.20181031156729445,-2.1285730686412845],[-0.17999875939216903,-1.9685730758436262]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[0.39403544236526944,-2.4120892967375314,0.71338606911949],"aabb_xy":[[0.3300354459379476,-2.4592589205596282],[0.4580354387925914,-2.3649196729154354]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.6836663752317524,-1.8274367111194159,0.71338606911949],"aabb_xy":[[0.6536988183219268,-1.8574367114173014],[0.7136339321415781,-1.79743671082153]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[-0.5396017754851071,0.4816699817386496,0.71338606911949],"aabb_xy":[[-0.599601777128029,0.4296698324467054],[-0.4796017738421853,0.5336701310305938]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[0.520307847524508,0.22199328950891184,0.71338606911949],"aabb_xy":[[0.47033043065925445,0.17199328801966324],[0.5702852643897616,0.2719932909981603]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[-0.1160666155616592,-1.726948811220295,0.71338606911949],"aabb_xy":[[-0.12478058461159368,-1.749448811879483],[-0.1073526465117247,-1.7044488105611066]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615715388081408,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8545.png","name":"8545"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8545.png","name":"8545"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9588.png","name":"9588"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1345.png","name":"1345"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9709.png","name":"9709"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3584.png","name":"3584"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":823.8452987245732,"rotation_z_degrees":161.87608838403423,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008632599282373046,0.005369733069228201,0.010466467478352434]},{"name":"camera_2","offset_m":[0.0030377980937310173,-0.004802173202369881,-0.017551773306584192]},{"name":"camera_3","offset_m":[0.01098416285688792,0.012404469987105173,0.012678876441199343]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00047359577913388485,0.0018879411566232298,-0.0017324645171297144],"end_effector_yaw_offset_degrees":-0.3072209796517824},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018089199448564509,0.0006366732171152727,-0.0011830238840537328],"end_effector_yaw_offset_degrees":-0.3055741443913651},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[7.352241476481442e-05,0.0009608086788736778,0.00034553570818070993],"end_effector_yaw_offset_degrees":-0.5351524374859191}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012064501814109973,-0.0014756353268217059],"position_m":[0.195693549818589,0.30622436467317826,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028296511284924023,-0.0021335544086382263],"position_m":[0.2466296511284924,-0.3363335544086382,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012519990827530793,0.0008318884514082071],"position_m":[0.2897480009172469,-0.0761681115485918,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004125674032146102,0.001804471788462588],"position_m":[0.3264743259678539,0.08270447178846259,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7e14faaa14d8477335454a16fd5e919e0086ff2118f503725425af79830be586","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8545/tex_ceiling_textures_3584/tex_floor_textures_9709/tex_table_textures_9588/tex_wall_textures_1345","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1131255521248759030,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1131255521248759030,"visual_seed":1131255521248759030,"scene_id":"lab_003","finished_at":"2026-09-04T10:28:42"}
+{"episode_id":"ep_000072","started_at":"2026-09-04T10:28:47","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.3479022722575651,0.5467755937461556,0.71338606911949],"aabb_xy":[[0.2839022702078331,0.5066811106568476],[0.4119022743072971,0.5868700768354635]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[0.529632279629735,-0.7088817364389226,0.71338606911949],"aabb_xy":[[0.4796322800534004,-0.7588623153910286],[0.5796322792060699,-0.6589011574868167]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[-0.16023838915834476,-0.11894736029211783,0.71338606911949],"aabb_xy":[[-0.2242383913787518,-0.16332044441740612],[-0.09623838693793774,-0.07457427616682953]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[0.5262841331965085,-0.18538995854066576,0.71338606911949],"aabb_xy":[[0.456284131387763,-0.20674372730485313],[0.5962841350052539,-0.16403618977647838]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[-0.08006744030470547,-1.891989322165971,0.71338606911949],"aabb_xy":[[-0.13006744132384077,-1.928455537903799],[-0.030067439285570215,-1.8555231064281432]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[-0.5923640685057358,0.9258994369260223,0.71338606911949],"aabb_xy":[[-0.6523640687571368,0.8716181118895576],[-0.5323640682543345,0.9801807619624869]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.5984284523736029,-0.00941365802708427,0.71338606911949],"aabb_xy":[[-0.6071264146643182,-0.021538632334558997],[-0.5897304900828876,0.0027113162803904527]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[0.28663224585569425,-1.3279799730633526,0.71338606911949],"aabb_xy":[[0.23664929566821488,-1.3779799727059128],[0.3366151960431735,-1.277979973420792]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[-0.38542885604868754,0.7131746545609312,0.71338606911949],"aabb_xy":[[-0.3969978367956241,0.6881746544439996],[-0.37385987530175097,0.738174654677863]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.13473586888887235,-0.25903317696650285,0.71338606911949],"aabb_xy":[[-0.16973586808169058,-0.2700002229641654],[-0.09973586969605405,-0.24806613096884017]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[0.2349066920161611,-0.935894821363159,0.71338606911949],"aabb_xy":[[0.22749423647477263,-0.941746031784787],[0.24231914755754957,-0.9300436109415311]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.4401615230555834,1.6250835968565105,0.71338606911949],"aabb_xy":[[-0.5041615253983849,1.580142745612378],[-0.37616152071278186,1.670024448100643]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[-0.5105395127265158,0.44368834786122235,0.71338606911949],"aabb_xy":[[-0.5281178149154626,0.4261138582871174],[-0.4929612105375689,0.4612628374353272]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[-0.26071331601913833,-0.31637436433786004,0.71338606911949],"aabb_xy":[[-0.2839951582172696,-0.4013743656350881],[-0.23743147382100696,-0.231374363040632]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[-0.6427879327930784,-1.8541704575647198,0.71338606911949],"aabb_xy":[[-0.68028793430871,-1.8653972305808648],[-0.6052879312774466,-1.8429436845485747]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.06879249438250745,-2.491296873504234,0.71338606911949],"aabb_xy":[[-0.14878631796106567,-2.5712968760970756],[0.011201329196050769,-2.4112968709113924]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[0.5348658984735466,-2.228955653613237,0.71338606911949],"aabb_xy":[[0.4548659010699532,-2.3089482248114193],[0.61486589587714,-2.1489630824150536]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[-0.4066371697331441,-1.544578443235198,0.71338606911949],"aabb_xy":[[-0.41850925274464523,-1.6295784429288485],[-0.394765086721643,-1.4595784435415478]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[-0.044490401300326554,-1.0603728051469983,0.71338606911949],"aabb_xy":[[-0.05270494641601053,-1.0690493954446392],[-0.03627585618464257,-1.0516962148493565]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[0.4984995404315582,-0.05118914801807728,0.71338606911949],"aabb_xy":[[0.47491441696766334,-0.11618915026350907],[0.522084663895453,0.013810854227354508]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.10110506971024535,-0.9350937868918678,0.71338606911949],"aabb_xy":[[0.07860593398401838,-0.9575937876701308],[0.12360420543647233,-0.9125937861136049]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[0.2279614911154476,-2.257243868567368,0.71338606911949],"aabb_xy":[[0.2233263759632142,-2.2611112036445165],[0.23259660626768097,-2.253376533490219]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[-0.5600118750832137,-2.1994217733081847,0.71338606911949],"aabb_xy":[[-0.6050118765494426,-2.2444216301696653],[-0.5150118736169849,-2.154421916446704]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[0.389672989315768,1.1489374934847048,0.71338606911949],"aabb_xy":[[0.3196729871843384,1.1261755278590087],[0.4596729914471975,1.1716994591104]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[-0.20998390508838805,-1.939174172659428,0.71338606911949],"aabb_xy":[[-0.21602091808905283,-1.9452008737283764],[-0.20394689208772337,-1.9331474715904802]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.651986666762362,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5780.png","name":"5780"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5780.png","name":"5780"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7029.png","name":"7029"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4841.png","name":"4841"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4147.png","name":"4147"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4462.png","name":"4462"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":849.4061059266947,"rotation_z_degrees":320.72585574738855,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016666117771791111,-0.014830246672285385,0.012103669003416574]},{"name":"camera_2","offset_m":[-0.0005608249531931786,-0.0046149070419837825,-0.0014550030985792974]},{"name":"camera_3","offset_m":[0.0019379174923936753,0.004787230761549667,-0.005671514342341796]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007130688911117372,-0.0013046033651280113,-0.0007714195183013825],"end_effector_yaw_offset_degrees":0.10614980582143696},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013426292057880213,0.0014014278167789975,0.00017042883998657273],"end_effector_yaw_offset_degrees":-0.9400202009693694},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004958335525521223,0.0010074248431903065,0.0010069359268861872],"end_effector_yaw_offset_degrees":0.35834478871098074}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0043008493592258225,0.0019583065574914193],"position_m":[0.19259915064077418,0.3096583065574914,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004938693766712269,0.0035629254276670795],"position_m":[0.23886130623328772,-0.33063707457233293,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003927253253462395,0.0008702723185878636],"position_m":[0.29492725325346236,-0.07612972768141213,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004808466072801725,-0.0004507149124835805],"position_m":[0.3354084660728017,0.08044928508751642,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c24044170d59df82ae5e2551f146bd8e5ed80d100fdb7908447bd5b576a891ec","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5780/tex_ceiling_textures_4462/tex_floor_textures_4147/tex_table_textures_7029/tex_wall_textures_4841","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8326966081730556703,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8326966081730556703,"visual_seed":8326966081730556703,"scene_id":"lab_003","finished_at":"2026-09-04T10:31:42"}
+{"episode_id":"ep_000073","started_at":"2026-09-04T10:31:46","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.22524801108185438,-1.8266398276437228,0.71338606911949],"aabb_xy":[[-0.23058052573646737,-1.8319641558889583],[-0.2199154964272414,-1.8213154993984872]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[-0.219905723320872,-1.9223678932888677,0.71338606911949],"aabb_xy":[[-0.227931993951498,-1.9311193882662205],[-0.211879452690246,-1.9136163983115153]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[0.6270556939943734,0.334067358632975,0.71338606911949],"aabb_xy":[[0.6025094783716227,0.3038184620839379],[0.6516019096171242,0.36431625518201205]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.6734561671202279,1.2898548599254687,0.71338606911949],"aabb_xy":[[0.6579003977099628,1.2743044266810617],[0.6890119365304933,1.305405293169876]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.3577275240674401,-1.5391229576230037,0.71338606911949],"aabb_xy":[[-0.38272752361917856,-1.5492654414881384],[-0.3327275245157016,-1.528980473757869]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[0.29827006912420506,-2.043531117410299,0.71338606911949],"aabb_xy":[[0.2895721068334898,-2.0556560917177737],[0.30696803141492035,-2.0314061431028243]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[0.7105052927273763,1.5063333699983663,0.71338606911949],"aabb_xy":[[0.7045387537866404,1.5003722253390022],[0.7164718316681119,1.5122945146577305]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.6504763933116562,-0.05879381088164948,0.71338606911949],"aabb_xy":[[0.6139805726843774,-0.09527775330840704],[0.6869722139389349,-0.022309868454891912]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.7071101416161363,-1.9898955166446437,0.71338606911949],"aabb_xy":[[0.6969571260619869,-2.025965058217384],[0.7172631571702857,-1.9538259750719031]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.29702475762292385,0.6931214688894238,0.71338606911949],"aabb_xy":[[-0.36102475996572536,0.6481806176452912],[-0.23302475528012226,0.7380623201335562]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[-0.007111282642699779,-2.285126118184689,0.71338606911949],"aabb_xy":[[-0.06223648827229055,-2.3451261196259763],[0.04801392298689099,-2.225126116743402]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[-0.46239169723617046,-2.537701270883794,0.71338606911949],"aabb_xy":[[-0.4843003793755215,-2.559601937703884],[-0.4404830150968194,-2.5158006040637027]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[-0.5554646381111008,0.06872166621919362,0.71338606911949],"aabb_xy":[[-0.5923151860480884,0.031221665396159892],[-0.5186140901741132,0.10622166704222735]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[-0.43153961874200125,0.3522308247364965,0.71338606911949],"aabb_xy":[[-0.49653961662364915,0.3011071610299556],[-0.3665396208603535,0.4033544884430374]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.12807763025669305,-0.5511067636012119,0.71338606911949],"aabb_xy":[[-0.19807763238812257,-0.5738687292269075],[-0.058077628125263486,-0.5283447979755161]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[0.46424623478928595,-0.2489063957639459,0.71338606911949],"aabb_xy":[[0.44396193206588713,-0.26918902090665464],[0.48453053751268466,-0.228623770621237]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[0.11418115439791765,1.3593019741415313,0.71338606911949],"aabb_xy":[[0.09229140680897685,1.2693019768522822],[0.13607090198685845,1.4493019714307804]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.4227988275361843,-0.4485414751478438,0.71338606911949],"aabb_xy":[[-0.4727718930686998,-0.4985414749603768],[-0.37282576200366885,-0.39854147533531104]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.5569509039599405,-2.2926008317100366,0.71338606911949],"aabb_xy":[[0.5184052111347395,-2.3311466027662253],[0.5954965967851416,-2.254055060653848]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[0.2615652110813862,0.6188659612070602,0.71338606911949],"aabb_xy":[[0.21146774710031258,0.5548659606972484],[0.3116626750624598,0.682865961716872]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[-0.4954684105562512,-2.346577142989716,0.71338606911949],"aabb_xy":[[-0.5080951978434476,-2.356123216691289],[-0.4828416232690548,-2.337031069288143]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[-0.4764004237049234,-1.4311470310607828,0.71338606911949],"aabb_xy":[[-0.5404004244083929,-1.477165413533704],[-0.41240042300145413,-1.385128648587862]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.021052736445477005,-0.7593509432371348,0.71338606911949],"aabb_xy":[[-0.0585527371100557,-0.7750380012373569],[0.016447264219101695,-0.7436638852369125]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[0.5856705963621291,-0.7228040140929735,0.71338606911949],"aabb_xy":[[0.5056705931042862,-0.8028005218849575],[0.6656705996199721,-0.6428075063009896]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[0.34943892510080254,-2.545074035878977,0.71338606911949],"aabb_xy":[[0.32697415512939737,-2.5675740367578377],[0.3719036950722076,-2.5225740350001167]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[0.5664972009525013,-1.1370313510386758,0.71338606911949],"aabb_xy":[[0.5583835462791242,-1.145137167492705],[0.5746108556258784,-1.128925534584647]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_26","position":[0.29375369113532424,-2.2039343694910056,0.71338606911949],"aabb_xy":[[0.2712536916116168,-2.226430316941626],[0.3162536906590316,-2.1814384220403844]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6518811840973675,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5345.png","name":"5345"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5345.png","name":"5345"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6182.png","name":"6182"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5746.png","name":"5746"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7388.png","name":"7388"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4520.png","name":"4520"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":744.5174256500063,"rotation_z_degrees":27.763916893782206,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00046279401294530703,0.011877893829648278,0.00611194235892662]},{"name":"camera_2","offset_m":[0.0011007897086171038,-0.016671825910816663,-0.010942723455486698]},{"name":"camera_3","offset_m":[-0.0007331034763203084,-0.015082338050270382,-0.013387684618035082]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011313142979427339,-0.0008437631283016839,-0.0009217361794248702],"end_effector_yaw_offset_degrees":-0.9957312845404196},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-7.132273912190275e-05,-0.0018739125639155234,-0.00037401335628923344],"end_effector_yaw_offset_degrees":-0.10584912316883366},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011276689474445094,-0.0004241705033398713,-0.0006118981701648703],"end_effector_yaw_offset_degrees":0.4050497505733406}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001397588026614615,0.004224587610825726],"position_m":[0.1982975880266146,0.3119245876108257,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004348560201487974,0.004776582769173005],"position_m":[0.23945143979851202,-0.32942341723082696,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032865949880826984,0.004999530677065167],"position_m":[0.2877134050119173,-0.07200046932293483,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019456321892812422,-0.0023221838140634467],"position_m":[0.3286543678107188,0.07857781618593655,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4caa5b1526911d6cb179267d9510c04bd07140e59dad402e16df3b62387e6738","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5345/tex_ceiling_textures_4520/tex_floor_textures_7388/tex_table_textures_6182/tex_wall_textures_5746","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1650334255096999398,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1650334255096999398,"visual_seed":1650334255096999398,"scene_id":"lab_003","finished_at":"2026-09-04T10:34:51"}
+{"episode_id":"ep_000074","started_at":"2026-09-04T10:34:54","dimensions":{"distractor":{"count":25,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[-0.0882839657088288,1.6216440349554389,0.71338606911949],"aabb_xy":[[-0.17828396543200295,1.5985706824202588],[0.001716034014345391,1.6447173874906185]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[0.009804924590550712,-2.061609874910361,0.71338606911949],"aabb_xy":[[-0.027229184837509003,-2.0959870822440703],[0.04683903401861043,-2.0272326675766514]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[-0.6746397128576633,-0.7870683631468245,0.71338606911949],"aabb_xy":[[-0.6852071925157622,-0.7976133932598329],[-0.6640722331995642,-0.7765233330338158]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[0.5465408451549714,-0.23043374976103959,0.71338606911949],"aabb_xy":[[0.48254084445150214,-0.27645213223396065],[0.6105408458584408,-0.1844153672881186]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[0.3433118759999094,0.7827482269009804,0.71338606911949],"aabb_xy":[[0.3087207931458642,0.7177482266159493],[0.37790295885395464,0.8477482271860114]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.4922520739736817,1.740896929687413,0.71338606911949],"aabb_xy":[[-0.5144246009503326,1.7187212625312895],[-0.4700795469970308,1.7630725968435357]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[0.25404117236083257,1.3584246076788147,0.71338606911949],"aabb_xy":[[0.24534321007011722,1.34629963337134],[0.2627391346515478,1.3705495819862894]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[-0.13764887431247153,-1.6854989583072428,0.71338606911949],"aabb_xy":[[-0.14396097384880996,-1.6912658975604618],[-0.1313367747761331,-1.679732019054024]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[0.10174487480799088,-1.3603391581006,0.71338606911949],"aabb_xy":[[0.09570786180732617,-1.366365859169548],[0.10778188780865562,-1.3543124570316518]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[-0.40322090093748403,-0.9699437544238878,0.71338606911949],"aabb_xy":[[-0.45322090051381886,-1.019924333375994],[-0.3532209013611494,-0.919963175471782]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[0.26795332800013205,0.4473789444865077,0.71338606911949],"aabb_xy":[[0.2304533275027738,0.4434102609383893],[0.3054533284974903,0.45134762803462614]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.39808628128225954,-2.0796224647172865,0.71338606911949],"aabb_xy":[[-0.4158797882171759,-2.097422210313084],[-0.38029277434734304,-2.061822719121489]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.20483188912274264,-2.2099008364343304,0.71338606911949],"aabb_xy":[[0.1761825567623264,-2.2385463957114062],[0.23348122148315884,-2.1812552771572546]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.28092962617500267,0.15071246512383674,0.71338606911949],"aabb_xy":[[-0.3184296276906344,0.13948569210769168],[-0.24342962465937096,0.1619392381399818]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.6799109142253903,-1.8138008970915296,0.71338606911949],"aabb_xy":[[0.6487639953818072,-1.8838008957783365],[0.7110578330689734,-1.7438008984047222]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.34167983552854114,1.2763041906026427,0.71338606911949],"aabb_xy":[[-0.3791798353455747,1.2716659792915006],[-0.3041798357115076,1.2809424019137843]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.17175515976516664,-2.13280148838533,0.71338606911949],"aabb_xy":[[-0.23575516003914487,-2.1828675885826176],[-0.10775515949118841,-2.0827353881880417]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.3472370779424521,-0.6971755781438851,0.71338606911949],"aabb_xy":[[-0.3697334993763162,-0.7196755779506325],[-0.324740656508588,-0.6746755783371376]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.11316297395473573,0.016554210448389117,0.71338606911949],"aabb_xy":[[-0.14879212985469548,-0.01907845630846383],[-0.077533818054776,0.052186877205242066]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[0.08747102457357792,0.7260524811062008,0.71338606911949],"aabb_xy":[[0.037373560592504296,0.662052480596389],[0.13756848855465154,0.7900524816160126]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.1346819165752905,0.785840568011448,0.71338606911949],"aabb_xy":[[-0.15226021876423734,0.7682660784373431],[-0.11710361438634365,0.8034150575855529]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.17926831670786203,-1.5299627702642713,0.71338606911949],"aabb_xy":[[0.17156512603378496,-1.5376721409630092],[0.18697150738193904,-1.522253399565533]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[0.393296869748643,1.3951340264830878,0.71338606911949],"aabb_xy":[[0.3381716641190522,1.3351340250418005],[0.44842207537823375,1.4551340279243747]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[-0.16101589146278616,-1.5747929691425957,0.71338606911949],"aabb_xy":[[-0.17185636968930107,-1.5919792504332446],[-0.15017541323627126,-1.5576066878519468]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.45188140983565495,0.6235117769379963,0.71338606911949],"aabb_xy":[[0.3818814080269095,0.6021580081738089],[0.5218814116444004,0.6448655457021837]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569915123534387,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7673.png","name":"7673"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7673.png","name":"7673"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4977.png","name":"4977"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6828.png","name":"6828"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/546.png","name":"546"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5481.png","name":"5481"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":524.6316903023377,"rotation_z_degrees":104.91148389554611,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014290000980225346,0.009219760725496323,-0.0161625614431236]},{"name":"camera_2","offset_m":[-0.006348417436049046,-4.459414713501447e-06,0.01725021579375256]},{"name":"camera_3","offset_m":[-0.001950441443114185,0.0014860054702887232,0.005779472968492013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007064817741423025,-0.0013022222876469156,-0.0004157856945682262],"end_effector_yaw_offset_degrees":0.5295515783148694},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001984019194480294,0.0013863319843855494,-0.0015461442269912],"end_effector_yaw_offset_degrees":0.8044979449688023},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001776086380216642,-0.0005418868738295527,0.0012543274676916909],"end_effector_yaw_offset_degrees":0.3429910971405252}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035818457287166176,0.0008036943700312719],"position_m":[0.2004818457287166,0.3085036943700312,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002491007980132769,-0.0021260222358981894],"position_m":[0.24130899201986722,-0.3363260222358982,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0023077849631474613,0.004197430216352314],"position_m":[0.2886922150368525,-0.07280256978364769,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021690697886419287,0.0009656373345636104],"position_m":[0.33276906978864196,0.0818656373345636,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ee6ce0c1d15773fdc7a3dc52834cb3a1fe464127e1ab3e11cdb13247faf4aa22","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0074.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7673/tex_ceiling_textures_5481/tex_floor_textures_546/tex_table_textures_4977/tex_wall_textures_6828","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8088303695608689766,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8088303695608689766,"visual_seed":8088303695608689766,"scene_id":"lab_003","finished_at":"2026-09-04T10:37:44"}
+{"episode_id":"ep_000075","started_at":"2026-09-04T10:37:49","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[0.0056130765406359195,0.9974934631927894,0.71338606911949],"aabb_xy":[[-0.01027141672468923,0.9831405228939653],[0.02149756980596107,1.0118464034916133]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[0.266200794259585,-1.039501205062679,0.71338606911949],"aabb_xy":[[0.258207304464303,-1.047499337003155],[0.27419428405486707,-1.0315030731222037]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[0.4593422835346448,-1.9546190759095923,0.71338606911949],"aabb_xy":[[0.3943422825341442,-2.0054054410642674],[0.5243422845351453,-1.9038327107549173]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.25754221382919257,0.5596693195096756,0.71338606911949],"aabb_xy":[[-0.31517268271646337,0.499669320582965],[-0.19991174494192165,0.6196693184363862]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.07831421089885315,1.5891550938569368,0.71338606911949],"aabb_xy":[[-0.13831421074541994,1.532336471663898],[-0.018314211052286367,1.6459737160499754]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.5576003382395817,-1.487484128210092,0.71338606911949],"aabb_xy":[[-0.603685429494313,-1.5514841254626468],[-0.5115152469848501,-1.4234841309575366]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.4805302837231529,-2.183549719003502,0.71338606911949],"aabb_xy":[[0.47661641052773035,-2.1922987344100586],[0.4844441569185754,-2.174800703596945]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.041326260471006515,-1.468666455772879,0.71338606911949],"aabb_xy":[[-0.09132626004734123,-1.5186470347249852],[0.008673739105328197,-1.4186858768207733]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[-0.29869814183529764,0.7005460197205418,0.71338606911949],"aabb_xy":[[-0.33369814173131646,0.6921717842086018],[-0.2636981419392787,0.7089202552324817]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[0.6439058975635163,1.644813070681145,0.71338606911949],"aabb_xy":[[0.5839058970556633,1.5879663369952237],[0.7039058980713692,1.7016598043670663]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[0.03519997958124299,0.706625706351248,0.71338606911949],"aabb_xy":[[-0.028800022639164036,0.6622526222259597],[0.09919998180165002,0.7509987904765363]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.11554243264893016,-0.18077951379588342,0.71338606911949],"aabb_xy":[[-0.160542434115159,-0.22577937065736411],[-0.07054243118270132,-0.13577965693440275]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.45095550723553535,0.6629435661560841,0.71338606911949],"aabb_xy":[[0.43385342927716714,0.6458367606248143],[0.46805758519390345,0.6800503716873538]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[0.21678860759203833,1.662559585024964,0.71338606911949],"aabb_xy":[[0.16679549548284647,1.6125595843507687],[0.26678171970123027,1.71255958569916]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.2617846706778105,-2.20372638290036,0.71338606911949],"aabb_xy":[[0.22678466932632876,-2.2240861188571808],[0.2967846720292922,-2.183366646943539]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.014374476484052656,-1.1614315774613193,0.71338606911949],"aabb_xy":[[-0.10437448016097081,-1.2228639840384234],[0.07562552719286551,-1.0999991708842147]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.238774830557677,0.8635353535440857,0.71338606911949],"aabb_xy":[[0.20127483045208402,0.8567131916911047],[0.2762748306632699,0.870357515397067]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[0.4543026905755636,1.5155328040395468,0.71338606911949],"aabb_xy":[[0.4297890664785578,1.4912682107375104],[0.4788163146725695,1.5397973973415833]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[-0.3238823952995367,-0.9658552658028989,0.71338606911949],"aabb_xy":[[-0.3309227052330737,-1.0458552652025705],[-0.3168420853659997,-0.8858552664032276]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.3196621894882168,0.4949140045256075,0.71338606911949],"aabb_xy":[[0.23966219208462333,0.4149214333274247],[0.39966218689181016,0.5749065757237903]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[-0.16783197985909948,-0.0349338256590217,0.71338606911949],"aabb_xy":[[-0.17798499541324883,-0.07100336723176201],[-0.15767896430495007,0.0011357159137186446]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[0.06341366794166059,1.129857414616144,0.71338606911949],"aabb_xy":[[0.013413666280165824,1.0798589723604413],[0.11341366960315534,1.1798558568718467]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[-0.3525432445559064,0.419051807962433,0.71338606911949],"aabb_xy":[[-0.3573868393171364,0.4142001554834489],[-0.34769964979467644,0.42390346044141713]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_23","position":[-0.21838662139656534,-2.3442705161279,0.71338606911949],"aabb_xy":[[-0.28338662143086807,-2.3909711928082267],[-0.1533866213622626,-2.297569839447572]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.6255046263256276,-0.024187724753222284,0.71338606911949],"aabb_xy":[[0.6077111193907112,-0.04198747034901995],[0.6432981332605441,-0.0063879791574246135]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[-0.4970677712205735,-1.0922785699685216,0.71338606911949],"aabb_xy":[[-0.5145677703549407,-1.1021581970061092],[-0.4795677720862063,-1.0823989429309335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6571315047267721,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3906.png","name":"3906"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3906.png","name":"3906"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3433.png","name":"3433"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2863.png","name":"2863"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5977.png","name":"5977"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2892.png","name":"2892"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":558.7661154886074,"rotation_z_degrees":47.596017922882,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017228662145071585,-0.013334995539697246,-0.012827478303610286]},{"name":"camera_2","offset_m":[0.019296018308177138,0.01854796587633428,0.005342457757321773]},{"name":"camera_3","offset_m":[-0.012029870836131985,-0.013101871149282825,0.015932980728547087]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007606893478112075,0.0011219720177396862,-0.0001102858439239779],"end_effector_yaw_offset_degrees":0.7680944764165194},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009966561397795936,-0.0005443876394906782,-0.001571124505272124],"end_effector_yaw_offset_degrees":0.3661664097967645},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.968542119411021e-06,0.0011917616289900718,0.001980556566668113],"end_effector_yaw_offset_degrees":-0.08190352793350764}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[9.050032725469066e-06,-0.0008001142676343212],"position_m":[0.19690905003272546,0.30689988573236565,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009204944633950871,0.0002478795705983649],"position_m":[0.2428795055366049,-0.33395212042940164,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012379552557488082,-0.004202829337371369],"position_m":[0.2922379552557488,-0.08120282933737137,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011094888166157803,-0.001912648938770455],"position_m":[0.32949051118338424,0.07898735106122955,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1045ad40abacff2ddb2682aa5dedf8d3543d69ae29074a65548e6f7e6a854b0e","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3906/tex_ceiling_textures_2892/tex_floor_textures_5977/tex_table_textures_3433/tex_wall_textures_2863","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2009538960098046027,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2009538960098046027,"visual_seed":2009538960098046027,"scene_id":"lab_003","finished_at":"2026-09-04T10:40:53"}
+{"episode_id":"ep_000076","started_at":"2026-09-04T10:40:58","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[-0.169296950447272,1.2381498291037314,0.71338606911949],"aabb_xy":[[-0.24929695261003448,1.1581946454775878],[-0.08929694828450951,1.318105012729875]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.28618504010197043,1.4122111968458415,0.71338606911949],"aabb_xy":[[0.24868503975374268,1.400419801264758],[0.3236850404501982,1.424002592426925]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[-0.4585666355257152,0.7950711435241491,0.71338606911949],"aabb_xy":[[-0.466602970227,0.7870330242197322],[-0.4505303008244303,0.8031092628285658]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[-0.16610057917120913,-1.712401229454737,0.71338606911949],"aabb_xy":[[-0.17954710580525246,-1.7258710811078282],[-0.1526540525371658,-1.698931377801646]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[0.06729640190091224,1.0315655185327874,0.71338606911949],"aabb_xy":[[0.003296401626934009,0.9814994183354995],[0.13129640217489047,1.0816316187300754]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.5103755971544719,-2.485037905952872,0.71338606911949],"aabb_xy":[[-0.5743755994972735,-2.5299787571970045],[-0.4463755948116704,-2.4400970547087395]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.1950575003841002,-0.5348029475302707,0.71338606911949],"aabb_xy":[[-0.2127331309726985,-0.5524831638096734],[-0.17738186979550183,-0.5171227312508679]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[-0.2913840780665499,0.5188095231711127,0.71338606911949],"aabb_xy":[[-0.3149692015304448,0.45380952092568094],[-0.26779895460265507,0.5838095254165445]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.35306360809522686,-1.4922842138755519,0.71338606911949],"aabb_xy":[[-0.381712940455643,-1.5209297731526275],[-0.3244142757348106,-1.4636386545984759]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.024099262131764165,-0.8217562752438532,0.71338606911949],"aabb_xy":[[-0.058396173149504786,-0.8560531614537944],[0.010197648885976456,-0.7874593890339118]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[0.23013009089449443,-1.1741909193278712,0.71338606911949],"aabb_xy":[[0.2022850541138873,-1.204975418066183],[0.25797512767510156,-1.1434064205895595]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.008949127731281203,1.5109582842890839,0.71338606911949],"aabb_xy":[[-0.028550872085752355,1.5063200729779418],[0.04644912754831476,1.5155964956002255]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.04386740041160775,0.636595058186133,0.71338606911949],"aabb_xy":[[-0.054278959092091454,0.6312493248502344],[-0.03345584173112403,0.6419407915220314]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.316575900226639,-1.9879978496158768,0.71338606911949],"aabb_xy":[[-0.3715758994032285,-2.042987524390835],[-0.2615759010500495,-1.9330081748409194]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[-0.6117428330700007,1.6029090366614631,0.71338606911949],"aabb_xy":[[-0.6191552886113891,1.5970578262398352],[-0.6043303775286122,1.608760247083091]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[0.3510135134852961,-1.9552763774926563,0.71338606911949],"aabb_xy":[[0.3088290993244654,-2.019276377769868],[0.3931979276461269,-1.8912763772154455]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[0.7118702107914769,-1.707187368202058,0.71338606911949],"aabb_xy":[[0.7048287598407293,-1.7142141199398526],[0.7189116617422245,-1.7001606164642638]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[0.14864041330152855,-1.6437018923439926,0.71338606911949],"aabb_xy":[[0.08864041279367564,-1.7005486260299136],[0.20864041380938148,-1.586855158658071]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[0.09309118759351431,-0.9872546623018572,0.71338606911949],"aabb_xy":[[0.0230911911835525,-1.0076925979535387],[0.16309118400347605,-0.9668167266501753]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[0.11476158879316334,-1.362012099817295,0.71338606911949],"aabb_xy":[[0.09869966133464568,-1.4470121016298867],[0.13082351625168095,-1.277012098004703]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.3613120183314189,-0.4929577467838753,0.71338606911949],"aabb_xy":[[0.33881201808790357,-0.5051623814436472],[0.38381201857493435,-0.4807531121241033]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.40824135686086827,-0.27658784798646785,0.71338606911949],"aabb_xy":[[0.3532413586591234,-0.3171098146129054],[0.46324135506261305,-0.23606588136003023]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[0.3652988121508933,-2.456545113920388,0.71338606911949],"aabb_xy":[[0.3152988107900061,-2.5065230184958036],[0.41529881351178055,-2.4065672093449724]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.3119411066885327,1.7126448847196634,0.71338606911949],"aabb_xy":[[-0.36175788615336746,1.66264488623536],[-0.26212432722369794,1.7626448832039667]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[-0.19397809598065774,-2.1071992127019024,0.71338606911949],"aabb_xy":[[-0.207209041515339,-2.1204266317239013],[-0.18074715044597642,-2.0939717936799025]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[-0.18963731190215405,-1.4695818988710123,0.71338606911949],"aabb_xy":[[-0.2596373145387404,-1.4896867638668776],[-0.11963730926556768,-1.4494770338751466]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[0.1717592725909386,-2.3901503220137075,0.71338606911949],"aabb_xy":[[0.16019029184400205,-2.415150322130639],[0.1833282533378752,-2.3651503218967758]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[-0.33541793499317135,-0.7796176135708275,0.71338606911949],"aabb_xy":[[-0.42510501130128675,-0.869617613825278],[-0.24573085868505584,-0.6896176133163769]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[0.5199661500437862,-0.4342634430747667,0.71338606911949],"aabb_xy":[[0.5120428698050379,-0.45676344331277013],[0.5278894302825345,-0.4117634428367634]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[0.6626219285444208,0.056169375042636194,0.71338606911949],"aabb_xy":[[0.6517161524568581,-0.02383062135619296],[0.6735277046319835,0.13616937144146535]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[0.4470913053270802,-1.7828251413047966,0.71338606911949],"aabb_xy":[[0.36709130485686425,-1.7911358489191451],[0.5270913057972961,-1.7745144336904486]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_31","position":[-0.1166624611391246,1.776953211548331,0.71338606911949],"aabb_xy":[[-0.13486828480037227,1.7659278109663394],[-0.09845663747787692,1.7879786121303227]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_32","position":[-0.3031301037449346,1.4602665036616203,0.71338606911949],"aabb_xy":[[-0.31075437183511284,1.4526332801250763],[-0.29550583565475635,1.4678997271981638]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_33","position":[-0.28532865022821047,-1.6865763860989391,0.71338606911949],"aabb_xy":[[-0.3031221571631269,-1.7043761316947366],[-0.26753514329329403,-1.6687766405031412]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660518779320834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5792.png","name":"5792"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5792.png","name":"5792"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9194.png","name":"9194"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3157.png","name":"3157"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/662.png","name":"662"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9229.png","name":"9229"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":640.3913624208535,"rotation_z_degrees":247.745175242729,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007564082608855797,-0.012689865895629707,0.005099150981218957]},{"name":"camera_2","offset_m":[-0.015394016561333067,0.015365914664327924,0.002354793989855563]},{"name":"camera_3","offset_m":[0.005164193864760958,0.01252201474049881,-0.016665567662892754]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005502421632125553,-0.0016470102267136203,0.0014015864402546342],"end_effector_yaw_offset_degrees":-0.8734686657335895},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009905819099066831,-0.00045826284025568325,-0.00018537470243341404],"end_effector_yaw_offset_degrees":0.4147549423655772},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005325716256564706,-0.0018469844125827452,-0.00046006044241168583],"end_effector_yaw_offset_degrees":-0.3167123852575038}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004642065949752072,0.0031832099190417266],"position_m":[0.1922579340502479,0.3108832099190417,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036630230143543724,0.0013663436975621338],"position_m":[0.24746302301435436,-0.3328336563024379,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004577035373369288,-0.003408463261705074],"position_m":[0.29557703537336927,-0.08040846326170507,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004902666543807332,-0.0005412348341592779],"position_m":[0.33010973334561927,0.08035876516584073,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2f306642c09f1ded10c37ca0a2926ced2f6fcba0ab9cc385c6d39211b5b6cdda","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5792/tex_ceiling_textures_9229/tex_floor_textures_662/tex_table_textures_9194/tex_wall_textures_3157","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6389541044211510762,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6389541044211510762,"visual_seed":6389541044211510762,"scene_id":"lab_003","finished_at":"2026-09-04T10:44:24"}
+{"episode_id":"ep_000077","started_at":"2026-09-04T10:44:28","dimensions":{"distractor":{"count":23,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.5424682454221728,-2.3329639997103255,0.71338606911949],"aabb_xy":[[-0.5797995219474155,-2.3676170545051782],[-0.5051369688969303,-2.2983109449154737]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.0502745090166592,0.7446006656352275,0.71338606911949],"aabb_xy":[[-0.07385963248055405,0.6796006633897957],[-0.026689385552764337,0.8096006678806593]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[0.14250002943854734,-1.2157444213377322,0.71338606911949],"aabb_xy":[[0.06250003085122792,-1.2950600232758929],[0.22250002802586677,-1.136428819399571]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.48116332986145016,1.2970997486414433,0.71338606911949],"aabb_xy":[[0.4111633282591707,1.2836669554397857],[0.5511633314637296,1.3105325418431009]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[-0.395945839315287,0.6246106652687944,0.71338606911949],"aabb_xy":[[-0.4459300750234642,0.5746106664552988],[-0.34596160360710976,0.67461066408229]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.6410182175378413,0.2602878904853334,0.71338606911949],"aabb_xy":[[-0.6503118357749917,0.2227878919971995],[-0.6317245993006906,0.2977878889734673]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[0.4324785817278043,-0.6439239937848065,0.71338606911949],"aabb_xy":[[0.39598276110052544,-0.680407936211564],[0.4689744023550829,-0.6074400513580489]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[-0.5763315699456439,-0.8157250457606171,0.71338606911949],"aabb_xy":[[-0.6173495133320148,-0.8657250463915744],[-0.5353136265592731,-0.7657250451296598]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.5878629025841665,-1.4143535577573338,0.71338606911949],"aabb_xy":[[-0.6356690701979352,-1.4793535604643928],[-0.5400567349703979,-1.3493535550502749]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.6281733454376106,1.096438295390242,0.71338606911949],"aabb_xy":[[0.6211318944868629,1.0894115436524479],[0.6352147963883581,1.1034650471280367]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.7171967156399446,0.3292431036280443,0.71338606911949],"aabb_xy":[[0.7112301766992088,0.3232819589686802],[0.7231632545806803,0.3352042482874083]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.42994184162000115,0.8528876239372516,0.71338606911949],"aabb_xy":[[0.34994184421640767,0.7728950527390687],[0.5099418390235945,0.9328801951354343]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[-0.6334083949851513,1.6474605707439074,0.71338606911949],"aabb_xy":[[-0.6934083966280733,1.5954604214519634],[-0.5734083933422296,1.6994607200358518]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.6701341286540866,0.9756535208938688,0.71338606911949],"aabb_xy":[[-0.6876808235702057,0.9381535193296175],[-0.6525874337379678,1.01315352245812]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[0.34205842380038143,1.6972876636050285,0.71338606911949],"aabb_xy":[[0.324558423555332,1.6797878757654616],[0.35955842404543076,1.7147874514445953]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.39474656732137003,-0.43901705919313283,0.71338606911949],"aabb_xy":[[-0.41602457546484223,-0.5040170615192059],[-0.37346855917789773,-0.37401705686705977]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.7009101792482519,-0.1680196245626875,0.71338606911949],"aabb_xy":[[0.6857380099666187,-0.18318848149089087],[0.7160823485298854,-0.15285076763448416]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[0.5263967625650152,-1.2357403702236356,0.71338606911949],"aabb_xy":[[0.4888967626212488,-1.2440334602584722],[0.5638967625087816,-1.227447280188799]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[0.5983568854593497,1.6788833558005956,0.71338606911949],"aabb_xy":[[0.5733568861873874,1.662537992204433],[0.623356884731312,1.6952287193967577]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.5659616457970291,1.1942265852833156,0.71338606911949],"aabb_xy":[[-0.6154420670109879,1.1302265873704638],[-0.5164812245830703,1.2582265831961674]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[-0.669387052495132,1.2439162366131251,0.71338606911949],"aabb_xy":[[-0.6811552392897896,1.1589162367079036],[-0.6576188657004746,1.3289162365183467]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.005864474374987827,-1.5932175479358808,0.71338606911949],"aabb_xy":[[-0.006007608636513284,-1.6782175476295311],[0.017736557386488938,-1.5082175482422304]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[-0.3758717121743595,-1.85435142935157,0.71338606911949],"aabb_xy":[[-0.39366521910927593,-1.8721511749473674],[-0.35807820523944306,-1.836551683755772]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6564149640931176,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9378.png","name":"9378"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9378.png","name":"9378"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1543.png","name":"1543"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3259.png","name":"3259"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4414.png","name":"4414"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/235.png","name":"235"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":500.66241507064757,"rotation_z_degrees":318.2592017912901,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006070550523343319,-0.01097821325662637,0.017303479780757355]},{"name":"camera_2","offset_m":[-0.0035412382396700047,0.003068693186131996,-0.005346020305811439]},{"name":"camera_3","offset_m":[-0.007559944499337111,-0.008587745493707813,0.004634715982214134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-8.725705306457192e-05,0.0017280345606242118,-0.0009955745596596172],"end_effector_yaw_offset_degrees":-0.4208749369073135},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005081763905015802,0.0013833672953667549,-0.001532527841402469],"end_effector_yaw_offset_degrees":0.9888421869576776},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019637834893265413,0.001467734851154943,0.0008383027309220577],"end_effector_yaw_offset_degrees":0.34005220552561166}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0002724292101976165,0.0030635470511595495],"position_m":[0.19662757078980236,0.31076354705115955,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003055812646447522,-0.0019475216659852247],"position_m":[0.24074418735355246,-0.3361475216659852,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030927810566087144,-0.0025787165945093293],"position_m":[0.2940927810566087,-0.07957871659450932,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002602604903392197,-0.0011593984127621759],"position_m":[0.3279973950966078,0.07974060158723782,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"087330fc489f577a5f71e0c03be0e8d474ffbb94c408055fef86015d74276818","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9378/tex_ceiling_textures_235/tex_floor_textures_4414/tex_table_textures_1543/tex_wall_textures_3259","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":9077208793345263535,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":9077208793345263535,"visual_seed":9077208793345263535,"scene_id":"lab_003","finished_at":"2026-09-04T10:47:36"}
+{"episode_id":"ep_000078","started_at":"2026-09-04T10:47:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[-0.3003475694359981,0.32756153123227927,0.71338606911949],"aabb_xy":[[-0.3091496247449708,0.3197502050773502],[-0.2915455141270254,0.33537285738720835]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.461799288988265,-1.956249526300672,0.71338606911949],"aabb_xy":[[-0.4870201258481046,-1.9814732771535586],[-0.4365784521284253,-1.931025775447785]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[-0.5746208107532166,0.12835008270239312,0.71338606911949],"aabb_xy":[[-0.6646208101715874,0.09497458585820337],[-0.4846208113348456,0.16172557954658281]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[0.27958456315760194,1.0788829439514633,0.71338606911949],"aabb_xy":[[0.19958456172747469,0.9993657889388539],[0.3595845645877291,1.1584000989640728]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[-0.4463166467632058,-1.1182110643559886,0.71338606911949],"aabb_xy":[[-0.5103166486755482,-1.174122213613999],[-0.3823166448508635,-1.0622999150979782]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[0.4394893946716045,-2.328789653426455,0.71338606911949],"aabb_xy":[[0.4149431790488538,-2.359038549975492],[0.46403561029435525,-2.2985407568774177]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.5152352056706992,0.14664900841092887,0.71338606911949],"aabb_xy":[[0.5076109375805211,0.13901578487438518],[0.5228594737608776,0.15428223194747262]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[0.6784008504724703,-1.1665846761093037,0.71338606911949],"aabb_xy":[[0.649751518112054,-1.1952302353863793],[0.7070501828328865,-1.1379391168322277]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[0.1978067763869793,-1.3841174032479955,0.71338606911949],"aabb_xy":[[0.12780677478469982,-1.397550196449653],[0.2678067779892588,-1.370684610046338]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.6643580989268383,0.014775928270515326,0.71338606911949],"aabb_xy":[[-0.6795302682084716,-0.00039292865768802976],[-0.6491859296452049,0.029944785198718682]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.05166210069478372,1.6023371676948188,0.71338606911949],"aabb_xy":[[-0.06481334666607308,1.5773371679381327],[-0.03851085472349436,1.6273371674515058]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.5514842731523883,-0.566484953487151,0.71338606911949],"aabb_xy":[[0.544240507106143,-0.6464849516907533],[0.5587280391986337,-0.4864849552835485]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[-0.5690315919316885,-0.8376113040394155,0.71338606911949],"aabb_xy":[[-0.5770749518576437,-0.9226113051347818],[-0.5609882320057333,-0.752611302944049]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[-0.019138544892575604,-0.963438168173971,0.71338606911949],"aabb_xy":[[-0.05345482206719354,-1.0134381681471485],[0.015177732282042337,-0.9134381682007932]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[0.43027601835189566,-1.6234356420585554,0.71338606911949],"aabb_xy":[[0.3927760180597209,-1.627477117459159],[0.46777601864407053,-1.6193941666579519]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.24877452962885294,-1.9526119300718572,0.71338606911949],"aabb_xy":[[0.23127452936951634,-1.96670347226063],[0.26627452988818956,-1.9385203878830848]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.41533275627080535,-1.532466329672082,0.71338606911949],"aabb_xy":[[0.40733926647552343,-1.540464461612558],[0.4233262460660875,-1.5244681977316068]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.10694455012757864,-0.23961354244425248,0.71338606911949],"aabb_xy":[[-0.11981645362851878,-0.31961354285808863],[-0.0940726466266385,-0.15961354203041633]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[-0.08973441460727549,-1.889229121894499,0.71338606911949],"aabb_xy":[[-0.1537344178969836,-1.9325640408984168],[-0.025734411317567384,-1.8458942028905816]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[-0.08134182605490292,-2.103076953041525,0.71338606911949],"aabb_xy":[[-0.13134110122333909,-2.153076954317472],[-0.03134255088646676,-2.053076951765578]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.14368494729265313,-2.5343684416160897,0.71338606911949],"aabb_xy":[[0.1376479342919884,-2.540395142685038],[0.14972196029331786,-2.528341740547142]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.6304051411005709,-2.387769744261374,0.71338606911949],"aabb_xy":[[0.6185330580890698,-2.472769743955024],[0.642277224112072,-2.302769744567723]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.19985635649790728,1.7333183908459397,0.71338606911949],"aabb_xy":[[-0.2426230633773275,1.6693183874241375],[-0.15708964961848712,1.7973183942677424]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[0.11903597435038182,1.7648071984209914,0.71338606911949],"aabb_xy":[[0.05503597792305992,1.7176375745988952],[0.18303597077770373,1.811976822243088]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[0.6814871604508614,1.7459750072494544,0.71338606911949],"aabb_xy":[[0.6709196807927624,1.7354299771364459],[0.6920546401089605,1.756520037362463]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.07925087770705708,-0.7008243887857402,0.71338606911949],"aabb_xy":[[-0.14325087841052642,-0.7468427712586612],[-0.015250877003587727,-0.6548060063128192]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[0.5973323280292411,-1.3377336914492204,0.71338606911949],"aabb_xy":[[0.5797856331131221,-1.3752336930134716],[0.61487902294536,-1.3002336898849691]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_27","position":[0.0045448089295929694,0.6470777382572681,0.71338606911949],"aabb_xy":[[-0.01795519108055532,0.6329815186176648],[0.02704480893974126,0.6611739578968714]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_28","position":[0.5423062981886493,-1.1003814303146024,0.71338606911949],"aabb_xy":[[0.4923332326561338,-1.1503814301271356],[0.5922793637211647,-1.0503814305020698]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_29","position":[-0.5561559338400826,0.9414566122390067,0.71338606911949],"aabb_xy":[[-0.6361559370979255,0.8614601044470227],[-0.4761559305822396,1.0214531200309906]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_30","position":[0.20023076418329977,-0.6680819479265812,0.71338606911949],"aabb_xy":[[0.16273076383507198,-0.6798733435076647],[0.2377307645315275,-0.6562905523454976]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_31","position":[-0.4487947115022338,0.43302730979687754,0.71338606911949],"aabb_xy":[[-0.4987947127860737,0.38304845540625543],[-0.39879471021839374,0.48300616418749964]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_32","position":[0.6287609545513686,1.3078198026136532,0.71338606911949],"aabb_xy":[[0.5687609540435155,1.2509730689277319],[0.6887609550592213,1.3646665362995745]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_33","position":[-0.34260014132380623,-0.3689720862413153,0.71338606911949],"aabb_xy":[[-0.3796342507518659,-0.40334929357502475],[-0.30556603189574644,-0.3345948789076058]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6600343866620091,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1006.png","name":"1006"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1006.png","name":"1006"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5869.png","name":"5869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3365.png","name":"3365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3100.png","name":"3100"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9820.png","name":"9820"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":529.8900535931645,"rotation_z_degrees":74.261986640934,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0008380117826740988,0.00816969956731577,0.012679958400990805]},{"name":"camera_2","offset_m":[0.004537674431818576,-0.004757802632355866,-0.01932204170223209]},{"name":"camera_3","offset_m":[-0.002273219695049452,-0.0017971251300652816,0.0005076077360727724]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014232562440227947,0.0003574223263246379,0.0010531802430187543],"end_effector_yaw_offset_degrees":-0.11415763270543722},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018912494533374303,-0.0004063607975984271,0.0004561618857831457],"end_effector_yaw_offset_degrees":-0.9309161157101495},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001816271612556519,0.0016379803302754344,-0.0014846892365021325],"end_effector_yaw_offset_degrees":-0.8383618697172195}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004918940623401774,0.0008090440955436182],"position_m":[0.1919810593765982,0.3085090440955436,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027249616711188408,0.0007212660017713139],"position_m":[0.24652496167111884,-0.3334787339982287,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003148894599611916,0.004603474424864091],"position_m":[0.2941488945996119,-0.07239652557513591,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017965481360136502,-0.0012849956847052891],"position_m":[0.33239654813601366,0.07961500431529471,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5f1f5d4cef0c716a2e18cac2d094cde2ee49fabe88fbf81973da5a99cd4cebc9","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1006/tex_ceiling_textures_9820/tex_floor_textures_3100/tex_table_textures_5869/tex_wall_textures_3365","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7152117273361352543,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7152117273361352543,"visual_seed":7152117273361352543,"scene_id":"lab_003","finished_at":"2026-09-04T10:50:38"}
+{"episode_id":"ep_000079","started_at":"2026-09-04T10:50:41","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.42017052787833475,1.376309968364506,0.71338606911949],"aabb_xy":[[0.4026705287439676,1.366430341326918],[0.4376705270127019,1.3861895954020937]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.482148395380986,-1.0825129091880807,0.71338606911949],"aabb_xy":[[0.459975868404335,-1.1046885763442036],[0.5043209223576367,-1.0603372420319574]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.11723466274831129,0.9620503606201258,0.71338606911949],"aabb_xy":[[0.1112681238075755,0.9560892159607618],[0.12320120168904708,0.9680115052794899]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[0.04533232879979632,-0.625046113788494,0.71338606911949],"aabb_xy":[[0.03397059414651015,-0.6364145801947819],[0.05669406345308247,-0.6136776473822058]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[-0.40799158944305397,1.5662947009983674,0.71338606911949],"aabb_xy":[[-0.4779915928346159,1.5309789272949363],[-0.33799158605149193,1.601610474701798]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.08733718942846136,-1.4226765396485888,0.71338606911949],"aabb_xy":[[0.07300276430229789,-1.4347367552031274],[0.1016716145546248,-1.4106163240940497]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.47307824897042156,-2.4428376279698574,0.71338606911949],"aabb_xy":[[-0.4980782485221601,-2.452980111834992],[-0.4480782494186831,-2.4326951441047227]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.040458208929954886,1.3498318493068688,0.71338606911949],"aabb_xy":[[-0.04917217797988937,1.3273318486476802],[-0.03174423988002039,1.3723318499660566]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[0.4431949689894832,1.7646199427189342,0.71338606911949],"aabb_xy":[[0.383194968738082,1.7103386176824693],[0.5031949692408844,1.8189012677553986]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.22771633133739305,-0.7692816474562107,0.71338606911949],"aabb_xy":[[-0.27771633169795906,-0.8192616346658136],[-0.17771633097682693,-0.7193016602466077]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[0.5595381737491041,-0.36769961600796597,0.71338606911949],"aabb_xy":[[0.5522558573724402,-0.4576996196174749],[0.5668204901257675,-0.2776996123984569]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.020715746391478995,1.1349669186234337,0.71338606911949],"aabb_xy":[[-0.02681037427959732,1.126397524071765],[-0.014621118503360678,1.1435363131751024]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[-0.14415236128064646,-0.9868295151225845,0.71338606911949],"aabb_xy":[[-0.14899595604187643,-0.9916811676015685],[-0.13930876651941648,-0.9819778626436003]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[-0.08690612734896364,-0.13704307719234565,0.71338606911949],"aabb_xy":[[-0.10440606078294701,-0.15454307711258017],[-0.06940619391498026,-0.11954307727211108]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.44804166064185225,-1.4421900662975236,0.71338606911949],"aabb_xy":[[0.43999830071589713,-1.52719006739289],[0.4560850205678075,-1.3571900652021571]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.4661075562151384,0.15712397213366813,0.71338606911949],"aabb_xy":[[-0.5561075598920566,0.09569156555656372],[-0.37610755253822015,0.2185563787107724]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.3884054237172341,-2.285229757601557,0.71338606911949],"aabb_xy":[[0.3659062879910071,-2.3077297583798204],[0.41090455944346105,-2.262729756823294]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[-0.13387805072774384,1.4104886839799362,0.71338606911949],"aabb_xy":[[-0.1563780512397844,1.3879968256145379],[-0.11137805021570321,1.4329805423453346]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[0.14316981238560111,-1.9130833698560177,0.71338606911949],"aabb_xy":[[0.11277170128645751,-1.9434902718576867],[0.17356792348474467,-1.8826764678543477]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[-0.4605403859574306,-1.2923261801713293,0.71338606911949],"aabb_xy":[[-0.4961695418573903,-1.3279588469281822],[-0.42491123005747083,-1.2566935134144763]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.2550765466825866,-2.4477948720355105,0.71338606911949],"aabb_xy":[[-0.3190765437946923,-2.496827241829921],[-0.19107654957048092,-2.3987625022411]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[-0.39200239349730714,-1.076321367812121,0.71338606911949],"aabb_xy":[[-0.4520023940933233,-1.1311338403573445],[-0.33200239290129097,-1.0215088952668976]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[0.13374776305904457,1.2326349487894381,0.71338606911949],"aabb_xy":[[0.09945085204130391,1.1983380625794966],[0.16804467407678517,1.2669318349993792]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[-0.5797231728146239,-1.5311039012651062,0.71338606911949],"aabb_xy":[[-0.6047231720865861,-1.5474492648612685],[-0.5547231735426615,-1.5147585376689439]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[0.3382409377874427,1.5936444250023274,0.71338606911949],"aabb_xy":[[0.25824094062786734,1.5820968240445104],[0.4182409349470179,1.6051920259601444]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_25","position":[0.09866031548182141,-1.6136545416544068,0.71338606911949],"aabb_xy":[[0.06116031553805501,-1.6219476316892432],[0.13616031542558782,-1.60536145161957]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_26","position":[-0.49035025396042076,-1.769319364236598,0.71338606911949],"aabb_xy":[[-0.5214971728040039,-1.839319362923405],[-0.4592033351168376,-1.6993193655497907]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[0.3168101843163216,1.7193172469437559,0.71338606911949],"aabb_xy":[[0.3066571687621721,1.6832477053710153],[0.32696319987047084,1.755386788516496]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_28","position":[0.45913445932732655,-2.49283538369452,0.71338606911949],"aabb_xy":[[0.42163445781169484,-2.5040621567106647],[0.49663446084295826,-2.4816086106783746]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[-0.6183234434750873,-2.365872193265451,0.71338606911949],"aabb_xy":[[-0.6883234461116736,-2.3859770582613162],[-0.5483234408385009,-2.3457673282695852]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_30","position":[-0.5887568989913022,-1.9925181786519484,0.71338606911949],"aabb_xy":[[-0.6066260067457577,-2.0063510866291594],[-0.5708877912368467,-1.9786852706747375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.657766605467325,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1690.png","name":"1690"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1690.png","name":"1690"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1781.png","name":"1781"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1461.png","name":"1461"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3085.png","name":"3085"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6928.png","name":"6928"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":651.9500981600959,"rotation_z_degrees":341.55886715638536,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0181910634535628,0.0040566872155707485,-0.0003851333365422968]},{"name":"camera_2","offset_m":[0.01899478815994408,-0.008211597686224837,0.011135446635637605]},{"name":"camera_3","offset_m":[-0.013457472180312596,0.01888780871181257,0.006165281430934765]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016645545777770484,-0.0017691115271866132,-0.0008641753850481843],"end_effector_yaw_offset_degrees":0.18427006954885972},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009722896378482244,-0.000833137213923823,-0.0015636280720261113],"end_effector_yaw_offset_degrees":0.6732944708558923},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006242334540801325,-0.0006915814723014897,-0.0015285956395786383],"end_effector_yaw_offset_degrees":-0.23373735938087314}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004786049241822686,-0.0019817612097025794],"position_m":[0.1921139507581773,0.3057182387902974,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024948997502862672,0.004834435998305687],"position_m":[0.24629489975028626,-0.3293655640016943,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001968529702322772,0.0005184361895943877],"position_m":[0.29296852970232273,-0.0764815638104056,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004393005553077252,0.001483997659337162],"position_m":[0.33499300555307726,0.08238399765933715,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"70989102d1cd77e5707d88f81a0fba0aca2788ec6c9f7c244902daa4b4d72671","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0079.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1690/tex_ceiling_textures_6928/tex_floor_textures_3085/tex_table_textures_1781/tex_wall_textures_1461","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6631993885831833678,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6631993885831833678,"visual_seed":6631993885831833678,"scene_id":"lab_003","finished_at":"2026-09-04T10:53:38"}
+{"episode_id":"ep_000080","started_at":"2026-09-04T10:53:43","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.1257392678901017,0.5077670883746035,0.71338606911949],"aabb_xy":[[-0.1757123334226172,0.4577670885620706],[-0.07576620235758626,0.5577670881871364]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[-0.2073981435971738,0.8102631416300095,0.71338606911949],"aabb_xy":[[-0.22989814360732208,0.7961669219904062],[-0.1848981435870255,0.8243593612696127]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.26936924119375283,-1.7241781367926707,0.71338606911949],"aabb_xy":[[0.23287342056647403,-1.760662079219428],[0.3058650618210315,-1.687694194365913]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.4708345116801669,-1.9997826952509576,0.71338606911949],"aabb_xy":[[0.42073704769909326,-2.0637826957607697],[0.5209319756612405,-1.9357826947411458]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[0.21318948284052697,0.8147838145068307,0.71338606911949],"aabb_xy":[[0.20668784633252235,0.805015992480521],[0.21969111934853158,0.8245516365331406]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.39930989394127336,1.496586367944158,0.71338606911949],"aabb_xy":[[0.3353098946471052,1.4326002275753036],[0.46330989323544164,1.560572508313012]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.590259257663345,-0.43171880930191,0.71338606911949],"aabb_xy":[[-0.6073613356217132,-0.44882561483317973],[-0.5731571797049769,-0.4146120037706402]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[-0.6055090392916622,-2.27711156202828,0.71338606911949],"aabb_xy":[[-0.6430090400836576,-2.28347940298647],[-0.5680090384996667,-2.2707437210700894]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[0.6247535151050729,-0.1620247431752504,0.71338606911949],"aabb_xy":[[0.6070778845164746,-0.17970495945465312],[0.6424291456936713,-0.14434452689584762]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.5567862536391573,-1.987670426275252,0.71338606911949],"aabb_xy":[[-0.620786250924806,-2.029177145228096],[-0.4927862563535087,-1.9461637073224083]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.3269606455126371,-1.6687351634921144,0.71338606911949],"aabb_xy":[[-0.33495463409034043,-1.6767352435872043],[-0.31896665693493365,-1.6607350833970236]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.03670883863452368,-1.2891444428643943,0.71338606911949],"aabb_xy":[[-0.027291159952048782,-1.336151406263903],[0.10070883722109614,-1.2421374794648856]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[0.38226398875554857,-0.6475711630886289,0.71338606911949],"aabb_xy":[[0.3725079992463747,-0.6573336971478633],[0.39201997826472246,-0.6378086290293944]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[-0.5399070896702772,0.6355269213416159,0.71338606911949],"aabb_xy":[[-0.5949025674909365,0.580526919907709],[-0.48491161184961773,0.6905269227755229]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.32218514982368107,0.9024968590481812,0.71338606911949],"aabb_xy":[[-0.3325967085041648,0.8971511257122826],[-0.31177359114319736,0.9078425923840796]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[-0.23024584128125652,-1.3947871748808331,0.71338606911949],"aabb_xy":[[-0.3102458398685759,-1.474102776818994],[-0.1502458426939371,-1.3154715729426723]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[0.1418623781452648,-1.7400011162590343,0.71338606911949],"aabb_xy":[[0.09186237712612956,-1.7764673319968627],[0.19186237916440013,-1.7035349005212068]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[-0.10410004370617854,-1.8613987413401631,0.71338606911949],"aabb_xy":[[-0.11373167992660817,-1.871036054119872],[-0.09446840748574893,-1.8517614285604542]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.5526232456647889,0.9314595690883367,0.71338606911949],"aabb_xy":[[-0.6077484512943797,0.8714595676470496],[-0.4974980400351982,0.9914595705296239]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.5729953365332066,0.42099072239870194,0.71338606911949],"aabb_xy":[[0.4833082602250911,0.3309907221442514],[0.662682412841322,0.5109907226531525]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.6863846260066513,-0.8183516352778761,0.71338606911949],"aabb_xy":[[0.6638854902804243,-0.8408516360561391],[0.7088837617328783,-0.7958516344996132]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[-0.32973450063825493,1.4813412865585218,0.71338606911949],"aabb_xy":[[-0.3464116366313505,1.4646413625845915],[-0.3130573646451595,1.498041210532452]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.3860559050340944,0.3907104609858001,0.71338606911949],"aabb_xy":[[-0.39404939482937656,0.3827123290453245],[-0.3780624152388125,0.3987085929262758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662980874444493,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/785.png","name":"785"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/785.png","name":"785"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5755.png","name":"5755"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1052.png","name":"1052"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1711.png","name":"1711"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9430.png","name":"9430"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":674.0416206644871,"rotation_z_degrees":288.63487490468674,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011844431066669672,0.01438910670178815,0.017258820150088703]},{"name":"camera_2","offset_m":[-0.0023701992026387425,0.015160552537488738,0.01913261901709012]},{"name":"camera_3","offset_m":[0.005785728635311346,-0.01965208617352381,0.01666332882546413]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010592367886142727,0.0015409582639529483,0.0002307194810067352],"end_effector_yaw_offset_degrees":-0.5866972749314623},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008251893906249994,0.0008060329125932401,0.0008357990049752684],"end_effector_yaw_offset_degrees":-0.500041815764799},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00022225405907624202,-0.0015147447557465675,0.0008191664524917382],"end_effector_yaw_offset_degrees":0.22778272164009628}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0042325065955430225,0.0022354424142963765],"position_m":[0.20113250659554302,0.3099354424142963,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032279035913860632,-0.00422730865437892],"position_m":[0.24702790359138604,-0.3384273086543789,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004804766807382317,-0.0008687003672973523],"position_m":[0.2958047668073823,-0.07786870036729734,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.814138819130755e-06,-0.0007365576048952351],"position_m":[0.3306078141388191,0.08016344239510477,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"88007bd6d2b096b7d2b38bfa8de99fd3c110cb2859f0176881c5da6a48d113bd","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_785/tex_ceiling_textures_9430/tex_floor_textures_1711/tex_table_textures_5755/tex_wall_textures_1052","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":803833581316962327,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":803833581316962327,"visual_seed":803833581316962327,"scene_id":"lab_003","finished_at":"2026-09-04T10:56:59"}
+{"episode_id":"ep_000081","started_at":"2026-09-04T10:57:02","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.3684798567390241,-2.0485997803773097,0.71338606911949],"aabb_xy":[[-0.43847985834130365,-2.0620325735789677],[-0.2984798551367447,-2.0351669871756526]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.31380055792927686,-1.0325826586137712,0.71338606911949],"aabb_xy":[[0.24880055977335785,-1.0588789031636834],[0.37880055608519597,-1.006286414063859]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.38124568412062687,-2.2907944152351445,0.71338606911949],"aabb_xy":[[0.29124568761975506,-2.3367060576536023],[0.4712456806214986,-2.244882772816686]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.1948305789673448,-1.3376411812415858,0.71338606911949],"aabb_xy":[[0.1723341575334807,-1.3601411810483333],[0.2173270004012089,-1.3151411814348384]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.384919229806449,1.621440761767221,0.71338606911949],"aabb_xy":[[-0.40278833756090454,1.6076078537900098],[-0.36705012205199355,1.635273669744432]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[0.6565320266942754,-0.5907748134836406,0.71338606911949],"aabb_xy":[[0.5915320288126276,-0.6418984771901816],[0.7215320245759231,-0.5396511497770998]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.06584516854584443,-0.07599937479034935,0.71338606911949],"aabb_xy":[[-0.09932433580688538,-0.10947848816145636],[-0.0323660012848035,-0.042520261419242346]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.6985857662175814,-2.437404856709797,0.71338606911949],"aabb_xy":[[0.6733649293577416,-2.462628607562683],[0.723806603077421,-2.41218110585691]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[-0.1697603269331761,-0.9418342263470119,0.71338606911949],"aabb_xy":[[-0.17951631644235,-0.9515967604062462],[-0.16000433742400222,-0.9320716922877773]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.23646802706769582,1.0008535929202242,0.71338606911949],"aabb_xy":[[-0.281746641948845,0.9368535935720406],[-0.19118941218654653,1.064853592268408]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[-0.5726206029177778,-1.588097395944989,0.71338606911949],"aabb_xy":[[-0.6226206038683105,-1.6196465429485103],[-0.5226206019672449,-1.5565482489414675]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.5083104517868682,0.9476775915080551,0.71338606911949],"aabb_xy":[[-0.5883104491904616,0.8676850203098723],[-0.4283104543832748,1.027670162706238]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[-0.1416378673689006,-2.1024659772262164,0.71338606911949],"aabb_xy":[[-0.17162953010277093,-2.132465976563017],[-0.11164620463503028,-2.072465977889416]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.4354359419316072,-0.7028928017191225,0.71338606911949],"aabb_xy":[[0.41415793378813487,-0.7678928040451954],[0.45671395007507937,-0.6378927993930493]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[0.029056507688547284,-1.5706363081737449,0.71338606911949],"aabb_xy":[[0.02415721538198378,-1.5983132274763137],[0.03395579999511077,-1.5429593888711761]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.5442683659892531,0.40284137468925474,0.71338606911949],"aabb_xy":[[0.45926836757182987,0.3179670792269698],[0.6292683644066763,0.48771567015153977]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[0.007434549849697714,1.0202859620448241,0.71338606911949],"aabb_xy":[[-0.04658104643220229,0.956285959152567],[0.061450146131597716,1.0842859649370813]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[-0.5997393502226446,-1.6887999259904054,0.71338606911949],"aabb_xy":[[-0.6167494475126952,-1.704934414488679],[-0.5827292529325939,-1.6726654374921313]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.3406574584676631,1.3424751234089127,0.71338606911949],"aabb_xy":[[-0.37628661436762284,1.3068424566520598],[-0.30502830256770336,1.3781077901657657]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.22047726069150264,-2.3082041367685706,0.71338606911949],"aabb_xy":[[-0.28047726119935557,-2.3650508704544912],[-0.16047726018364972,-2.251357403082649]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[0.10310927759810873,0.740514295103953,0.71338606911949],"aabb_xy":[[0.013422201289993288,0.6505142948495023],[0.19279635390622418,0.8305142953584034]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.6250042631724928,-2.367168762117603,0.71338606911949],"aabb_xy":[[-0.6850042630190596,-2.4239873843106414],[-0.565004263325926,-2.310350139924564]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.402946391982244,-2.3384995944771205,0.71338606911949],"aabb_xy":[[-0.41229339956453925,-2.3528032166947646],[-0.3935993843999488,-2.3241959722594765]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[0.13880756537596994,-0.6041307497849535,0.71338606911949],"aabb_xy":[[0.13069391070259284,-0.6122365662389825],[0.14692122004934705,-0.5960249333309243]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[-0.6504258684007493,-1.034579389353207,0.71338606911949],"aabb_xy":[[-0.6682193753356658,-1.0523791349490048],[-0.6326323614658329,-1.0167796437574095]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[-0.29777291176176074,0.5314593304461881,0.71338606911949],"aabb_xy":[[-0.32642224412217685,0.5028137711691123],[-0.2691235794013444,0.5601048897232639]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.20692110480682724,-2.051447263327479,0.71338606911949],"aabb_xy":[[0.15692110444626114,-2.1014272505370815],[0.25692110516739325,-2.0014672761178756]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[0.5468413760998025,-0.012523630406980235,0.71338606911949],"aabb_xy":[[0.5381434138090873,-0.02464860471445496],[0.5555393383905178,-0.0003986560995055088]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_28","position":[-0.2348848852693775,0.30359368135930564,0.71338606911949],"aabb_xy":[[-0.28498234925045113,0.2395936808494939],[-0.1847874212883039,0.3675936818691175]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_29","position":[-0.01844859337526883,-1.3425829244194405,0.71338606911949],"aabb_xy":[[-0.0645336846300003,-1.4065829216719956],[0.027636497879462645,-1.2785829271668854]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_30","position":[0.5662294824600917,0.22041967090543757,0.71338606911949],"aabb_xy":[[0.5022294860327698,0.17325004708334116],[0.6302294788874137,0.267589294727534]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_31","position":[-0.38500300866079695,-0.3769467731755807,0.71338606911949],"aabb_xy":[[-0.4225030070841973,-0.39011098714341125],[-0.3475030102373966,-0.36378255920775]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_32","position":[-0.37331216339475776,-1.3650763495424822,0.71338606911949],"aabb_xy":[[-0.3851842464062589,-1.4500763492361326],[-0.3614400803832567,-1.280076349848832]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_33","position":[-0.561545284445442,1.4973473434687992,0.71338606911949],"aabb_xy":[[-0.6265452870832355,1.4458677447693522],[-0.49654528180764856,1.5488269421682461]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_34","position":[0.48899688208954895,-2.435323210705391,0.71338606911949],"aabb_xy":[[0.4249968797467473,-2.480264061949523],[0.5529968844323504,-2.390382359461258]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6598536847011863,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7655.png","name":"7655"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7655.png","name":"7655"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2629.png","name":"2629"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4477.png","name":"4477"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8852.png","name":"8852"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4767.png","name":"4767"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":780.752496703633,"rotation_z_degrees":97.02695985244823,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004006639066824334,0.019929003315986165,0.00044667618739989423]},{"name":"camera_2","offset_m":[0.01780003647635797,-0.016504093038228224,0.00024737920320662757]},{"name":"camera_3","offset_m":[-0.0028855368924073192,-0.011951804255844488,0.010312223457919205]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017870843282620356,-0.0011595291644202269,-0.000957345278792237],"end_effector_yaw_offset_degrees":-0.9366356958484368},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015336617015978223,0.0018439451247894236,0.0017753405435386388],"end_effector_yaw_offset_degrees":0.3312680482234054},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018491934942570208,0.0008541860554779749,-0.0008329992226464064],"end_effector_yaw_offset_degrees":-0.3498734490288795}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004255789027949591,-0.004784836100250592],"position_m":[0.2011557890279496,0.3029151638997494,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002745673261309092,0.001114468676237267],"position_m":[0.24654567326130908,-0.33308553132376273,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003800344753411459,-0.004758219314705624],"position_m":[0.2871996552465885,-0.08175821931470562,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019013737079162816,-0.0017241364397291457],"position_m":[0.33250137370791627,0.07917586356027086,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d1a9b0d3edbfadabd98879d54a7c3d6ecac22da31c583ec05701b98ee6bbda87","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7655/tex_ceiling_textures_4767/tex_floor_textures_8852/tex_table_textures_2629/tex_wall_textures_4477","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1222975716807682078,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1222975716807682078,"visual_seed":1222975716807682078,"scene_id":"lab_003","finished_at":"2026-09-04T11:00:00"}
+{"episode_id":"ep_000082","started_at":"2026-09-04T11:00:03","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[0.632758286091206,0.9341643231333623,0.71338606911949],"aabb_xy":[[0.5827794775808901,0.8841643231276435],[0.6827370946015219,0.9841643231390811]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[0.05996911354341583,0.9254900196856783,0.71338606911949],"aabb_xy":[[0.05226592286933879,0.9177806489869403],[0.06767230421749287,0.9331993903844163]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.3554791710497003,1.506996061921082,0.71338606911949],"aabb_xy":[[-0.4104714216852113,1.4519960601777695],[-0.30048692041418934,1.5619960636643953]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[0.10065198760271621,-2.44053873256692,0.71338606911949],"aabb_xy":[[0.020651990639677015,-2.5176143742106936],[0.18065198456575535,-2.3634630909231467]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[-0.3391551643808933,-1.2380314141869138,0.71338606911949],"aabb_xy":[[-0.3891381145683726,-1.288031413829474],[-0.28917221419341393,-1.1880314145443531]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.0751991819436002,-1.3543206182860497,0.71338606911949],"aabb_xy":[[-0.08707126495510131,-1.4393206179797],[-0.06332709893209909,-1.2693206185923993]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[0.10166227242293657,1.0691637511772032,0.71338606911949],"aabb_xy":[[0.07666227287119809,1.0590212673120685],[0.12666227197467506,1.079306235042338]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[-0.35997027505741636,-0.6661677765587968,0.71338606911949],"aabb_xy":[[-0.4249702736144892,-0.6959203099726794],[-0.2949702765003435,-0.6364152431449142]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.4725646089055848,-2.5108844704712707,0.71338606911949],"aabb_xy":[[-0.4954803217906347,-2.5337887676076947],[-0.4496488960205349,-2.4879801733348477]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.5067704848507218,1.3523612877431055,0.71338606911949],"aabb_xy":[[-0.5392321857326491,1.3222284556282025],[-0.4743087839687942,1.3824941198580076]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[-0.595356540030376,-0.7658332532244922,0.71338606911949],"aabb_xy":[[-0.6503520178510352,-0.8208332546583991],[-0.5403610622097165,-0.7108332517905852]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[-0.18572796616470832,-0.18151881270972803,0.71338606911949],"aabb_xy":[[-0.22697677719462303,-0.23651881222194543],[-0.14447915513479356,-0.12651881319751052]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[-0.19892956691671831,-1.8600492364477095,0.71338606911949],"aabb_xy":[[-0.23642956758129696,-1.8757362944479314],[-0.16142956625213956,-1.844362178447487]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.11469734029440237,1.7069650282965152,0.71338606911949],"aabb_xy":[[0.03469733813163989,1.6270098446703714],[0.19469734245716486,1.7869202119226586]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[0.5388614156752636,-0.8226323865101608,0.71338606911949],"aabb_xy":[[0.47486141529772996,-0.872377653360973],[0.6028614160527972,-0.7728871196593484]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.1542998890035182,1.2174493056439069,0.71338606911949],"aabb_xy":[[0.12929988907100035,1.2105666374229835],[0.17929988893603613,1.2243319738648302]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.5627263383608985,-0.5653747133886711,0.71338606911949],"aabb_xy":[[-0.5675699331221286,-0.5702263658676552],[-0.5578827435996686,-0.560523060909687]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[0.4201834165116347,-2.2974879008511158,0.71338606911949],"aabb_xy":[[0.3701991808034575,-2.3474878996646114],[0.47016765221981194,-2.24748790203762]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[-0.2215230625059076,-0.37926944871989265,0.71338606911949],"aabb_xy":[[-0.24402306231980997,-0.38374406509037334],[-0.1990230626920052,-0.37479483234941197]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.5960235167045325,-0.3383107624977022,0.71338606911949],"aabb_xy":[[0.5060235199689221,-0.3914942258149967],[0.6860235134401426,-0.2851272991804077]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[0.43476198435212354,0.25958116517490293,0.71338606911949],"aabb_xy":[[0.3997619844561046,0.25120692966296293],[0.46976198424814236,0.2679554006868428]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.629019794969736,1.6406968277350473,0.71338606911949],"aabb_xy":[[0.5790205198012999,1.5906968264591004],[0.6790190701381722,1.6906968290109947]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.38978123304224116,0.25390206855960473,0.71338606911949],"aabb_xy":[[-0.39421186239708134,0.24845369682492213],[-0.385350603687401,0.25935044029428733]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[-0.267577408691956,-1.7715417328643257,0.71338606911949],"aabb_xy":[[-0.30507740948395146,-1.777909573822516],[-0.23007740789996056,-1.7651738919061355]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[0.274744192550033,-2.372845064721918,0.71338606911949],"aabb_xy":[[0.2687071795493683,-2.378871765790866],[0.28078120555069774,-2.36681836365297]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[-0.2165006011132642,-1.036418596663986,0.71338606911949],"aabb_xy":[[-0.30650060344728325,-1.1139009512490987],[-0.12650059877924513,-0.9589362420788734]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[-0.42897903759362105,-0.5368005694394209,0.71338606911949],"aabb_xy":[[-0.49397903869956433,-0.5617659425075492],[-0.36397903648767777,-0.5118351963712926]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_27","position":[0.27790261225249835,0.9249215941974773,0.71338606911949],"aabb_xy":[[0.2329026107862695,0.8799217373359968],[0.3229026137187272,0.9699214510589581]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[-0.3636520158016836,-0.4514996779493692,0.71338606911949],"aabb_xy":[[-0.3807540937600518,-0.46860648348063894],[-0.3465499378433155,-0.43439287241809943]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_29","position":[-0.5910708711200967,-2.099233977422302,0.71338606911949],"aabb_xy":[[-0.5991985593134099,-2.1081475858330103],[-0.5829431829267835,-2.090320369011595]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_30","position":[0.529220359367397,-2.5018797040371736,0.71338606911949],"aabb_xy":[[0.5176513786204604,-2.5268797041541053],[0.5407893401143335,-2.476879703920242]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6528428416762029,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5329.png","name":"5329"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5329.png","name":"5329"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/145.png","name":"145"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/196.png","name":"196"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5144.png","name":"5144"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9673.png","name":"9673"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":634.3226232707889,"rotation_z_degrees":57.06127138877713,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013400055439032308,-0.0007225914338156343,0.0044996232899412875]},{"name":"camera_2","offset_m":[0.018093512810418922,0.01572624683276461,0.013052388252022647]},{"name":"camera_3","offset_m":[0.018422554036284,0.015380171694572394,-0.0036259201706353855]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001155112740108855,-0.0009720352193464375,-0.0013405900695188473],"end_effector_yaw_offset_degrees":-0.7463936228455728},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007547329095501042,0.0001358839054462365,-0.0013308392923622532],"end_effector_yaw_offset_degrees":0.18859164820474228},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00013477807696430418,-0.0014440004055747621,0.0016176354250385257],"end_effector_yaw_offset_degrees":0.914736012593419}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006577023127950533,-0.001573512594710794],"position_m":[0.19624229768720494,0.3061264874052892,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004072163456212787,0.0033474169561752516],"position_m":[0.2397278365437872,-0.33085258304382476,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0034544006051084796,0.0037284719294408296],"position_m":[0.2875455993948915,-0.07327152807055917,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002235590547913653,0.001985279818777267],"position_m":[0.3328355905479137,0.08288527981877726,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"111b1182714e271d1b94914772d34979654d1eb3606ac754e0811279a6d19c9f","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5329/tex_ceiling_textures_9673/tex_floor_textures_5144/tex_table_textures_145/tex_wall_textures_196","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":946302953004709267,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":946302953004709267,"visual_seed":946302953004709267,"scene_id":"lab_003","finished_at":"2026-09-04T11:03:02"}
+{"episode_id":"ep_000083","started_at":"2026-09-04T11:03:06","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.5890491286880604,1.5629477740918865,0.71338606911949],"aabb_xy":[[0.5786375700075765,1.5576020407559878],[0.599460687368544,1.5682935074277846]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.25368918649990746,0.6817948639194151,0.71338606911949],"aabb_xy":[[0.23480480273139726,0.6629089391390622],[0.27257357026841766,0.7006807886997678]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[-0.6650547230097091,-2.192949787548126,0.71338606911949],"aabb_xy":[[-0.6828482299446256,-2.2107495331439235],[-0.6472612160747927,-2.175150041952328]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.26735047774906734,-1.4071024503944942,0.71338606911949],"aabb_xy":[[-0.2736625772854057,-1.4128693896477134],[-0.26103837821272885,-1.4013355111412755]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[-0.3156681135921199,-1.7444070598631578,0.71338606911949],"aabb_xy":[[-0.37566811418813606,-1.799219532408381],[-0.2556681129961037,-1.689594587317934]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[-0.3605084679227145,-2.0767166169922664,0.71338606911949],"aabb_xy":[[-0.42450846830024813,-2.126461883843078],[-0.2965084675451809,-2.0269713501414537]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[-0.03873043092781614,-0.6036794632211251,0.71338606911949],"aabb_xy":[[-0.04694497604350011,-0.6123560535187663],[-0.030515885812132156,-0.5950028729234836]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.6023111590515127,-1.6086938199949663,0.71338606911949],"aabb_xy":[[0.5903784246896846,-1.621075972802826],[0.6142438934133407,-1.5963116671871072]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.45876927801316847,1.6591497704030558,0.71338606911949],"aabb_xy":[[0.40376927981142363,1.6186278037766182],[0.5137692762149133,1.6996717370294934]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[0.6401537240926733,-2.2046513252621724,0.71338606911949],"aabb_xy":[[0.6293807501713056,-2.2396513234812114],[0.6509266980140411,-2.1696513270431335]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.2620041324665772,-0.5655166328363723,0.71338606911949],"aabb_xy":[[-0.29950413365136996,-0.5699348555324327],[-0.2245041312817844,-0.5610984101403117]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.48681888041354493,1.4609659676242832,0.71338606911949],"aabb_xy":[[0.4795576328431375,1.4481789573607737],[0.49408012798395234,1.4737529778877927]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.398432400917323,-1.8794848830070174,0.71338606911949],"aabb_xy":[[0.3904384123396196,-1.8874849631021078],[0.4064263894950264,-1.871484802911927]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[0.48390748245228865,1.232937689162493,0.71338606911949],"aabb_xy":[[0.4764950269109001,1.2270864787408648],[0.49131993799367707,1.2387888995841208]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.685188204249954,-0.90746303199158,0.71338606911949],"aabb_xy":[[-0.6939902595589266,-0.9152743581465091],[-0.6763861489409811,-0.899651705836651]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[-0.1019511655004095,-0.9880208110204378,0.71338606911949],"aabb_xy":[[-0.12445116502411688,-1.0105167584710584],[-0.07945116597670207,-0.9655248635698168]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[-0.3543609613631217,-0.8509756134709954,0.71338606911949],"aabb_xy":[[-0.4343609616367286,-0.9239251612967121],[-0.27436096108951463,-0.7780260656452787]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.061528183299565,-2.1648749596542576,0.71338606911949],"aabb_xy":[[0.0065349719624282435,-2.219874959993051],[0.11652139463670177,-2.109874959315464]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[0.30822174237034905,1.1347048756745197,0.71338606911949],"aabb_xy":[[0.29054611178175066,1.1170246593951167],[0.32589737295894733,1.1523850919539222]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.03430246547108684,-2.499193662393811,0.71338606911949],"aabb_xy":[[-0.0718024652881204,-2.5038318737049527],[0.0031975343459467176,-2.494555451082669]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.37290527430491677,-2.2984327896821872,0.71338606911949],"aabb_xy":[[-0.38161924335485115,-2.3209327903413746],[-0.36419130525498217,-2.275932789022998]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[-0.4176479687776676,-0.5635886648607253,0.71338606911949],"aabb_xy":[[-0.47166356505956747,-0.6275886677529824],[-0.36363237249576746,-0.4995886619684681]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[-0.4857191944103231,-2.3807508898625858,0.71338606911949],"aabb_xy":[[-0.5032191935446902,-2.3906305169001736],[-0.46821919527595596,-2.370871262824998]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[-0.5570354055013915,0.22528480990055888,0.71338606911949],"aabb_xy":[[-0.6210354075511234,0.18519032681125092],[-0.4930354034516594,0.26537929298986684]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[-0.5241795617641879,-1.9923430067937766,0.71338606911949],"aabb_xy":[[-0.5368063490513842,-2.0018890804953493],[-0.5115527744769915,-1.9827969330922037]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[-0.6566380074258399,-1.224734153214608,0.71338606911949],"aabb_xy":[[-0.664664278056466,-1.233485648191961],[-0.648611736795214,-1.2159826582372557]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_26","position":[0.5549711415789735,-0.6664418642455274,0.71338606911949],"aabb_xy":[[0.4749711401488462,-0.7459590192581369],[0.6349711430091006,-0.586924709232918]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_27","position":[-0.5442227760084763,-2.468602918918803,0.71338606911949],"aabb_xy":[[-0.5518470440986547,-2.4762361424553467],[-0.5365985079182982,-2.4609696953822593]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_28","position":[-0.3740920627575933,-0.05264222599642565,0.71338606911949],"aabb_xy":[[-0.39767718622148823,-0.11764222824185744],[-0.3505069392936985,0.012357776249006136]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_29","position":[-0.3266889294153979,1.295432604228833,0.71338606911949],"aabb_xy":[[-0.4166889259162696,1.2495209618103746],[-0.2366889329145261,1.3413442466472911]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_30","position":[-0.07603922930408347,1.0212191491831049,0.71338606911949],"aabb_xy":[[-0.1260392296646495,0.9712391619735018],[-0.026039228943517397,1.0711991363927076]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_31","position":[-0.3571224264225446,0.42823177560117465,0.71338606911949],"aabb_xy":[[-0.4211224255923145,0.38146508848221217],[-0.2931224272527746,0.4749984627201371]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_32","position":[0.6577416286812274,-2.0103382664740796,0.71338606911949],"aabb_xy":[[0.6504593123045636,-2.100338270083588],[0.6650239450578909,-1.9203382628645704]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6590998749223527,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2326.png","name":"2326"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2326.png","name":"2326"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7186.png","name":"7186"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8938.png","name":"8938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2406.png","name":"2406"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8018.png","name":"8018"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":512.2084544776287,"rotation_z_degrees":84.08200432954341,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007773130352742448,0.016614214601873355,-0.01836575635504802]},{"name":"camera_2","offset_m":[0.014194173325994413,-0.0034579064656911802,0.008075139932232335]},{"name":"camera_3","offset_m":[0.019154695603179336,-0.010423883748372411,0.0027978703906597242]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015156915218451062,0.0004422009275897687,-0.0018914093607925442],"end_effector_yaw_offset_degrees":0.6385209756880794},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012776164815367303,0.0009786552777529788,0.0004603084680262731],"end_effector_yaw_offset_degrees":-0.37152523937317916},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006886581334778516,-0.0002450215933982958,0.0009273704096210531],"end_effector_yaw_offset_degrees":0.30012321883761817}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0048341661300259076,-0.003658251366175976],"position_m":[0.19206583386997408,0.304041748633824,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00033374700989718606,-0.001498656750213232],"position_m":[0.24413374700989718,-0.3356986567502132,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00016017516213991372,1.8768692815271035e-05],"position_m":[0.2911601751621399,-0.07698123130718473,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003231444705934926,-0.002217119750388841],"position_m":[0.33383144470593495,0.07868288024961116,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d527b5ff217047e19f3517707e4074686385d5ed080e1cd4e92ba36be1c8a045","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0083.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2326/tex_ceiling_textures_8018/tex_floor_textures_2406/tex_table_textures_7186/tex_wall_textures_8938","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3890097527173733193,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3890097527173733193,"visual_seed":3890097527173733193,"scene_id":"lab_003","finished_at":"2026-09-04T11:06:07"}
+{"episode_id":"ep_000084","started_at":"2026-09-04T11:06:12","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[-0.15439148984598394,-0.7849817825188088,0.71338606911949],"aabb_xy":[[-0.16699418898306043,-0.7975771787436744],[-0.14178879070890751,-0.7723863862939434]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[0.1566714020017448,-1.429234347386301,0.71338606911949],"aabb_xy":[[0.12167140369104934,-1.4369493623098466],[0.19167140031244023,-1.4215193324627553]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.20447104357315793,-0.5153363925367032,0.71338606911949],"aabb_xy":[[-0.2419710447579507,-0.5197546152327636],[-0.1669710423883651,-0.5109181698406425]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[-0.37791558543174314,-2.56338304726794,0.71338606911949],"aabb_xy":[[-0.41541558572391796,-2.567424522668544],[-0.3404155851395683,-2.5593415718673365]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[0.5925121175436265,-0.0731015234192327,0.71338606911949],"aabb_xy":[[0.5819446378855274,-0.08364655353224126],[0.6030795972017254,-0.06255649330622415]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[-0.572723667392948,0.8125910635287661,0.71338606911949],"aabb_xy":[[-0.5761643436330053,0.8087296305544017],[-0.5692829911528909,0.8164524965031307]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.15654545197170455,1.5039055421395582,0.71338606911949],"aabb_xy":[[0.10155320133619361,1.4489055403962454],[0.21153770260721552,1.5589055438828712]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.04707110424722316,-0.8281986763110616,0.71338606911949],"aabb_xy":[[-0.07755535437425332,-0.8781986760925576],[-0.016586854120193006,-0.7781986765295658]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.32259969274627215,-0.7195578865662935,0.71338606911949],"aabb_xy":[[-0.3865953901413687,-0.7835578848670022],[-0.2586039953511755,-0.6555578882655848]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[-0.6389489590924962,-2.075403660428499,0.71338606911949],"aabb_xy":[[-0.6700958779360792,-2.1454036591153063],[-0.6078020402489129,-2.005403661741692]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.6308359862043048,1.5261753323315825,0.71338606911949],"aabb_xy":[[-0.6683359860213384,1.5215371210204405],[-0.5933359863872713,1.5308135436427242]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[-0.08799282400568176,-1.072071928955715,0.71338606911949],"aabb_xy":[[-0.09332533866029476,-1.0773962572009506],[-0.08266030935106879,-1.0667476007104795]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.44431051706829594,-0.5841023054297882,0.71338606911949],"aabb_xy":[[-0.46037244452681353,-0.66910230724238],[-0.42824858960977824,-0.4991023036171964]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[-0.14857037498453984,-0.2393035171686071,0.71338606911949],"aabb_xy":[[-0.156613734910495,-0.3243035182639735],[-0.14052701505858464,-0.15430351607324064]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[-0.24118656099636593,-1.2898413295347777,0.71338606911949],"aabb_xy":[[-0.2499005300463004,-1.3123413301939657],[-0.2324725919464314,-1.2673413288755893]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[0.17502304106394617,-0.7849028876653876,0.71338606911949],"aabb_xy":[[0.17131977973480728,-0.7886049059741054],[0.178726302393085,-0.7812008693566697]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[0.595680574679996,-1.3090969231283816,0.71338606911949],"aabb_xy":[[0.5456805760340748,-1.3590164667878442],[0.6456805733259172,-1.2591773794689194]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[-0.5453751274400918,-0.774396433341267,0.71338606911949],"aabb_xy":[[-0.5803751266329099,-0.7853634793389295],[-0.5103751282472734,-0.7634293873436042]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[0.5656173089092145,0.9241867773572916,0.71338606911949],"aabb_xy":[[0.501617307231217,0.8756693858779773],[0.6296173105872117,0.9727041688366057]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[-0.5210743002858903,1.2560528787596712,0.71338606911949],"aabb_xy":[[-0.5910743024173197,1.2332909131339753],[-0.45107429815446065,1.2788148443853666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625209615015768,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/834.png","name":"834"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/834.png","name":"834"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7457.png","name":"7457"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4544.png","name":"4544"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/55.png","name":"55"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5805.png","name":"5805"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":684.3551323247109,"rotation_z_degrees":196.28330075729824,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0028769691318478834,-0.016033039571720226,0.014808075790690486]},{"name":"camera_2","offset_m":[0.008989159778303734,0.0039059949878716277,-0.018100968587745844]},{"name":"camera_3","offset_m":[0.010486662601055605,-0.004180451918649426,0.0016502578412312986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00019309698065722927,0.0013523674922440022,0.0018720142101464154],"end_effector_yaw_offset_degrees":0.8208706075170289},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001655136198608795,0.0009606121488206299,-0.0007753161544744981],"end_effector_yaw_offset_degrees":0.7130345422075286},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014488541172248087,0.0019415137738276163,-5.670431932090726e-05],"end_effector_yaw_offset_degrees":0.3407666120399304}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004984536939451382,0.001381706845988413],"position_m":[0.20188453693945138,0.3090817068459884,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004987621002347182,-0.00033548254511320524],"position_m":[0.24878762100234716,-0.3345354825451132,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004117354565681187,-0.0021740109511383253],"position_m":[0.29511735456568117,-0.07917401095113832,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002814411988077934,-0.0007631640649513596],"position_m":[0.3277855880119221,0.08013683593504864,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8908acb7ef7cc448b9fb5fb822c31398e67c3654b34497bb6cf501593bb024e1","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_834/tex_ceiling_textures_5805/tex_floor_textures_55/tex_table_textures_7457/tex_wall_textures_4544","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4642388702891494910,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4642388702891494910,"visual_seed":4642388702891494910,"scene_id":"lab_003","finished_at":"2026-09-04T11:09:15"}
+{"episode_id":"ep_000085","started_at":"2026-09-04T11:09:19","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[-0.3584388804482858,1.033031001722311,0.71338606911949],"aabb_xy":[[-0.36648224037424104,0.9480310006269446],[-0.3503955205223307,1.1180310028176774]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.4335862874684052,-1.5679155163708474,0.71338606911949],"aabb_xy":[[-0.46858628577910066,-1.575630531294393],[-0.39858628915770977,-1.5602005014473017]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.15188459678002741,1.5138022475293975,0.71338606911949],"aabb_xy":[[0.1068845953137986,1.4688023906679168],[0.19688459824625631,1.5588021043908784]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[0.5000288544427487,1.1465156027609154,0.71338606911949],"aabb_xy":[[0.4920025838121227,1.1377641077835627],[0.5080551250733747,1.155267097738268]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[0.1827196081322806,-1.2568072959066519,0.71338606911949],"aabb_xy":[[0.1452196081885142,-1.2651003859414884],[0.220219608076047,-1.2485142058718153]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.4307567228931446,0.9795460566094478,0.71338606911949],"aabb_xy":[[0.4082603014592805,0.9570460568027004],[0.4532531443270087,1.0020460564161953]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.5330809375107899,-0.09859330248921117,0.71338606911949],"aabb_xy":[[0.5250869489330865,-0.10659338258430151],[0.5410749260884933,-0.09059322239412082]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[0.03459605085081918,-1.2404199530027233,0.71338606911949],"aabb_xy":[[0.02588208180088469,-1.2629199536619111],[0.043310019900753664,-1.2179199523435347]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.23730966023000116,1.4335783984155754,0.71338606911949],"aabb_xy":[[-0.30130535762509775,1.3695784001148665],[-0.17331396283490458,1.497578396716284]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[-0.6712290924226532,1.6183433407050054,0.71338606911949],"aabb_xy":[[-0.6775411919589917,1.6125764014517863],[-0.6649169928863149,1.624110279958224]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[0.4776173501990928,-1.7947530829631961,0.71338606911949],"aabb_xy":[[0.4076173485968133,-1.808185876164854],[0.5476173518013723,-1.7813202897615388]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.14342369869473726,-1.9661081670816234,0.71338606911949],"aabb_xy":[[-0.213423695104699,-1.9865461027333045],[-0.07342370228477542,-1.945670231429941]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.3174161490947131,0.7957305613326122,0.71338606911949],"aabb_xy":[[-0.33451822705308126,0.7786237558013424],[-0.30031407113634495,0.8128373668638819]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.3711317653261903,-0.8185757957579016,0.71338606911949],"aabb_xy":[[-0.46081884163430575,-0.9085757960123522],[-0.28144468901807485,-0.7285757955034511]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.24611344249474265,0.9231871402636993,0.71338606911949],"aabb_xy":[[0.21614588558491699,0.8931871399658136],[0.2760809994045683,0.953187140561585]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[0.03823001456977304,-0.8390780542140033,0.71338606911949],"aabb_xy":[[0.020024190908525363,-0.8501034547959949],[0.05643583823102072,-0.8280526536320116]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.5660708552305871,-1.8157275514140427,0.71338606911949],"aabb_xy":[[-0.5716525268647159,-1.8282275512318185],[-0.5604891835964583,-1.8032275515962675]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.5918384420243752,1.0781338092399455,0.71338606911949],"aabb_xy":[[0.5881351806952362,1.0744317909312275],[0.595541703353514,1.081835827548663]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.05871876436443335,-2.426582136114394,0.71338606911949],"aabb_xy":[[0.02371876609431344,-2.433656263809382],[0.09371876263455325,-2.4195080084194056]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.5265706921763016,1.538699894750239,0.71338606911949],"aabb_xy":[[0.5133397466416202,1.5254724757282394],[0.5398016377109828,1.5519273137722382]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[-0.3863377067481247,0.5392264735630539,0.71338606911949],"aabb_xy":[[-0.43632065693560396,0.4892264739204934],[-0.3363547565606453,0.5892264732056142]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_21","position":[0.5898216922762127,0.3575366581398103,0.71338606911949],"aabb_xy":[[0.5699306523958725,0.34488084685511344],[0.609712732156553,0.3701924694245071]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.3711087027773847,-0.8254281742561547,0.71338606911949],"aabb_xy":[[0.3170931064954847,-0.8894281771484117],[0.4251242990592847,-0.7614281713638974]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[-0.42313501210620613,-1.2649552322674817,0.71338606911949],"aabb_xy":[[-0.4284725877722107,-1.2899552331966215],[-0.41779743644020156,-1.239955231338342]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.3329085216010388,-0.5303232882366036,0.71338606911949],"aabb_xy":[[0.2629085182094768,-0.5656390619400344],[0.40290852499260077,-0.49500751453317277]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[-0.2847489962127742,0.4014615045646859,0.71338606911949],"aabb_xy":[[-0.3072481319390012,0.3789615037864229],[-0.26224986048654725,0.42396150534294885]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_26","position":[-0.1588511966705034,0.3147862891181843,0.71338606911949],"aabb_xy":[[-0.18135119619421078,0.29229034166756346],[-0.13635119714679597,0.337282236568805]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[-0.6154018997302544,-2.1076419645625584,0.71338606911949],"aabb_xy":[[-0.66253127873209,-2.17164196560696],[-0.5682725207284186,-2.043641963518156]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_28","position":[-0.5898048536004463,-0.09940672887722846,0.71338606911949],"aabb_xy":[[-0.605866781058964,-0.18440673068982025],[-0.5737429261419287,-0.014406727064636636]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_29","position":[0.27132708578536024,-1.9019018978488826,0.71338606911949],"aabb_xy":[[0.23541358136037055,-1.9378154060656372],[0.30724059021034994,-1.865988389632128]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_30","position":[-0.6359138173715173,0.5086107594838025,0.71338606911949],"aabb_xy":[[-0.6734138174771102,0.5017885976308213],[-0.5984138172659242,0.5154329213367835]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6524871363737409,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5508.png","name":"5508"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5508.png","name":"5508"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9768.png","name":"9768"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/391.png","name":"391"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8142.png","name":"8142"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/346.png","name":"346"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":515.2727877591602,"rotation_z_degrees":99.35878102721685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018252394720788632,-0.01358373156591016,0.00345911960571077]},{"name":"camera_2","offset_m":[0.018142362500960487,-0.003375211447778824,-0.010724725405300038]},{"name":"camera_3","offset_m":[-0.012771614035859824,-0.0045041944919873515,0.012565267684710012]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011105350184503426,-0.0009518313887631113,-0.0019413701509071878],"end_effector_yaw_offset_degrees":0.7184947449539631},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-2.0133096355865864e-05,-0.0008639632236460857,-0.0008431043164066464],"end_effector_yaw_offset_degrees":0.6792445423581557},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00065080499507805,0.0015381583055209332,-0.0015636384215328277],"end_effector_yaw_offset_degrees":0.9889009238461686}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016340751062407823,-0.0017107538182883075],"position_m":[0.19853407510624077,0.30598924618171164,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004399052072458762,0.00349324904422322],"position_m":[0.23940094792754124,-0.3307067509557768,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020720874698412794,0.0029506268453968606],"position_m":[0.2889279125301587,-0.07404937315460314,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035717041372323064,-0.0032464287425293115],"position_m":[0.3341717041372323,0.07765357125747069,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"459e325b63b2dc3a33da4a65464d750301d499b68b91176fc022bae5ba43d01b","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5508/tex_ceiling_textures_346/tex_floor_textures_8142/tex_table_textures_9768/tex_wall_textures_391","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4992277645423003903,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4992277645423003903,"visual_seed":4992277645423003903,"scene_id":"lab_003","finished_at":"2026-09-04T11:12:16"}
+{"episode_id":"ep_000086","started_at":"2026-09-04T11:12:19","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.3664487218610928,0.5561547660922277,0.71338606911949],"aabb_xy":[[0.362370563954043,0.5520737858439643],[0.37052687976814247,0.5602357463404909]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.22556977589414817,-0.5645739111334915,0.71338606911949],"aabb_xy":[[-0.266587719280519,-0.6145739117644489],[-0.18455183250777724,-0.5145739105025342]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.6416678215089286,-0.4524942776519816,0.71338606911949],"aabb_xy":[[0.6334532763932446,-0.46117086794962275],[0.6498823666246125,-0.4438176873543402]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.30574945994184555,1.09119294531766,0.71338606911949],"aabb_xy":[[0.2832494601279432,1.0867183289471791],[0.328249459755748,1.0956675616881406]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.03311479558739072,-0.8720361341212912,0.71338606911949],"aabb_xy":[[-0.04124248378070394,-0.880949742531999],[-0.0249871073940775,-0.8631225257105837]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[0.22426551107543702,1.3902429805603247,0.71338606911949],"aabb_xy":[[0.2194219163142071,1.3853913280813408],[0.22910910583666705,1.395094633039309]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[0.5098266837490011,-1.114077125025699,0.71338606911949],"aabb_xy":[[0.4598478752386851,-1.1640771250314181],[0.5598054922593169,-1.0640771250199805]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[0.19493917141866313,0.6628706985798054,0.71338606911949],"aabb_xy":[[0.12993917326274407,0.6365744540298932],[0.2599391695745822,0.6891669431297176]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[0.1337457606585265,-1.5841654189453886,0.71338606911949],"aabb_xy":[[0.0697457642312046,-1.631335042767485],[0.1977457570858484,-1.5369957951232922]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[-0.2470756366375224,1.0195118939521524,0.71338606911949],"aabb_xy":[[-0.26313756409604006,0.9345118921395604],[-0.23101370917900477,1.104511895764744]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.5846399182499357,-0.430725131349726,0.71338606911949],"aabb_xy":[[-0.648639915552282,-0.47509155831758276],[-0.5206399209475892,-0.38635870438186926]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.5344491349701348,-2.0193163287575007,0.71338606911949],"aabb_xy":[[-0.6144491352437418,-2.092265876583217],[-0.45444913469652787,-1.9463667809317837]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[-0.25635831534349396,-0.9204958320368146,0.71338606911949],"aabb_xy":[[-0.2664400224220674,-1.0004958299289293],[-0.24627660826492043,-0.8404958341447]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.6750970566229324,-1.0068799881960173,0.71338606911949],"aabb_xy":[[-0.6870297909847605,-1.019262141003877],[-0.6631643222611043,-0.9944978353881582]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.16771710890692715,0.3689729091672005,0.71338606911949],"aabb_xy":[[-0.17862288499448986,0.28897291276837134],[-0.15681133281936444,0.44897290556602965]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.5278348587338038,-2.147882136483716,0.71338606911949],"aabb_xy":[[0.5053384372999395,-2.1703821362904634],[0.5503312801676677,-2.1253821366769685]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[-0.26093999010289326,-1.4649351126442294,0.71338606911949],"aabb_xy":[[-0.3209399903542944,-1.519216437680694],[-0.20093998985149203,-1.4106537876077647]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[-0.24600757157029307,-1.2419896637561194,0.71338606911949],"aabb_xy":[[-0.2712284084301327,-1.267213414609006],[-0.22078673471045338,-1.2167659129032324]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.3617901873990803,1.546904596421094,0.71338606911949],"aabb_xy":[[0.3516371718449309,1.5108350548483531],[0.37194320295322963,1.5829741379938338]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[-0.6282557694361177,0.6665657035298729,0.71338606911949],"aabb_xy":[[-0.6782557697966837,0.6165857163202698],[-0.5782557690755515,0.7165456907394757]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[-0.40508593406560395,-1.1967798223715398,0.71338606911949],"aabb_xy":[[-0.43548404516474754,-1.227186724373209],[-0.37468782296646036,-1.16637292036987]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[0.07595581936534268,-0.9898026141722258,0.71338606911949],"aabb_xy":[[0.015955818857489753,-1.0466493478581471],[0.13595581987319558,-0.9329558804863045]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[0.20392165948962093,-0.8038170443769455,0.71338606911949],"aabb_xy":[[0.15382419550854734,-0.8678170448867571],[0.25401912347069455,-0.7398170438671335]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[0.18554353929174972,-0.6441117546273023,0.71338606911949],"aabb_xy":[[0.14874890616684344,-0.6810176297238846],[0.222338172416656,-0.60720587953072]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6591257893113308,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6856.png","name":"6856"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6856.png","name":"6856"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1450.png","name":"1450"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3001.png","name":"3001"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7489.png","name":"7489"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/962.png","name":"962"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":706.8061331175027,"rotation_z_degrees":29.041329690973807,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003169160214594454,-0.014722577206748029,-0.005014123275648567]},{"name":"camera_2","offset_m":[0.019809519981527923,0.004761432252516223,-0.007415939243783969]},{"name":"camera_3","offset_m":[0.00737956976486346,0.0017946926829952164,0.010371053691059628]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000937427859658119,0.0018560058011994176,0.0008807290285389579],"end_effector_yaw_offset_degrees":-0.29655726807581995},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013026168310645058,-0.0009060001441157733,-0.00018163943122001037],"end_effector_yaw_offset_degrees":0.320589849202942},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007460673978080909,-0.0009958525206531874,0.00014110203034771278],"end_effector_yaw_offset_degrees":-0.6415533314272719}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001478900726020721,-0.003840359764686573],"position_m":[0.1983789007260207,0.3038596402353134,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00170502581896249,-0.004970038344630992],"position_m":[0.2420949741810375,-0.339170038344631,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00025854481695249294,0.0008311161662676227],"position_m":[0.29125854481695246,-0.07616888383373238,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003910635574282757,0.0009734703420669188],"position_m":[0.3345106355742828,0.08187347034206692,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ad68be161d9d846f0398720a2e3922642395671ad56a95a22bb69c1145d5b5b","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6856/tex_ceiling_textures_962/tex_floor_textures_7489/tex_table_textures_1450/tex_wall_textures_3001","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6467936522821146702,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6467936522821146702,"visual_seed":6467936522821146702,"scene_id":"lab_003","finished_at":"2026-09-04T11:15:18"}
+{"episode_id":"ep_000087","started_at":"2026-09-04T11:15:21","dimensions":{"distractor":{"count":31,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[0.18971405089464766,1.5976282070562626,0.71338606911949],"aabb_xy":[[0.155417139876907,1.5633313208463213],[0.22401096191238826,1.631925093266204]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[0.18487991412231808,0.569553038104377,0.71338606911949],"aabb_xy":[[0.1755862958851675,0.532053039616243],[0.19417353235946866,0.6070530365925108]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[-0.33328699626477826,0.805812160746529,0.71338606911949],"aabb_xy":[[-0.38841220189436904,0.7458121593052417],[-0.2781617906351875,0.865812162187816]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[0.4200363732412986,0.19185754095711882,0.71338606911949],"aabb_xy":[[0.41595821533424887,0.1877765607088555],[0.42411453114834835,0.19593852120538213]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.24486023387873634,1.7693718132638439,0.71338606911949],"aabb_xy":[[0.18086023361826556,1.7243630139109156],[0.30886023413920716,1.8143806126167716]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.23546926623394754,-1.9404894265153856,0.71338606911949],"aabb_xy":[[-0.24703824698088417,-1.9654894266323177],[-0.22390028548701102,-1.9154894263984543]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.37135828393785525,1.4706549809815397,0.71338606911949],"aabb_xy":[[-0.43535828104996094,1.421622611187129],[-0.30735828682574956,1.5196873507759503]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[-0.3028799687099257,0.3332918816065469,0.71338606911949],"aabb_xy":[[-0.32055559929852395,0.3156116653271441],[-0.2852043381213273,0.3509720978859496]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.5399871316482402,-1.575855302852429,0.71338606911949],"aabb_xy":[[-0.5749871307781959,-1.581600523928093],[-0.5049871325182845,-1.5701100817767648]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[0.43901775502201446,-1.1970962972580081,0.71338606911949],"aabb_xy":[[0.37501775180337665,-1.2438194091570165],[0.5030177582406523,-1.1503731853589998]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.19266632460722954,-0.047812661245784316,0.71338606911949],"aabb_xy":[[-0.2301663249554573,-0.05960405682686787],[-0.1551663242590018,-0.03602126566470076]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.28550939608612763,-0.5464581275904514,0.71338606911949],"aabb_xy":[[-0.3205093952789459,-0.5574251735881139],[-0.25050939689330937,-0.5354910815927887]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.4329954403811126,-0.16576663343898934,0.71338606911949],"aabb_xy":[[-0.4384533860181326,-0.24576663674664842],[-0.42753749474409247,-0.08576663013133021]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[-0.392146743887847,0.07098928467108934,0.71338606911949],"aabb_xy":[[-0.45614674610825395,0.026616200545801036],[-0.3281467416674399,0.11536236879637761]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[-0.0858565376469993,-0.7436180323024535,0.71338606911949],"aabb_xy":[[-0.1358496497561912,-0.7936180329766491],[-0.03586342553780742,-0.6936180316282577]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.22425048962043864,-2.396641540663769,0.71338606911949],"aabb_xy":[[-0.23671784773017432,-2.4091068652970926],[-0.21178313151070302,-2.3841762160304456]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[0.11129570434551117,-1.627153662573245,0.71338606911949],"aabb_xy":[[0.0312957010876682,-1.707150170365229],[0.19129570760335413,-1.547157154781261]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_17","position":[0.3097800127335424,-0.9439528248665805,0.71338606911949],"aabb_xy":[[0.2397800106021128,-0.9667147904922763],[0.37978001486497187,-0.921190859240885]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.5717582678140205,-2.381521594191537,0.71338606911949],"aabb_xy":[[0.4817582641371022,-2.4429540007686406],[0.6617582714909386,-2.320089187614432]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.4409280675313425,-0.7032439102133727,0.71338606911949],"aabb_xy":[[0.4240173350950007,-0.7167161158059873],[0.4578387999676843,-0.6897717046207582]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[0.03149337282622766,0.644970090649299,0.71338606911949],"aabb_xy":[[0.009584690686876618,0.6230694238292083],[0.053402054965578705,0.6668707574693897]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[0.29484920600532727,-2.2858018107115057,0.71338606911949],"aabb_xy":[[0.2885371064689889,-2.2915687499647244],[0.30116130554166576,-2.280034871458287]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[0.08467369104877365,-0.9385725908122906,0.71338606911949],"aabb_xy":[[0.029673691427027804,-0.9935562835997633],[0.1396736906705195,-0.8835888980248179]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[0.4336528896484555,-1.6069179554783077,0.71338606911949],"aabb_xy":[[0.34365289023008455,-1.6402934523224972],[0.5236528890668264,-1.5735424586341178]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.6568874969587851,-1.1705121312082478,0.71338606911949],"aabb_xy":[[-0.6918874983102667,-1.1908718671650684],[-0.6218874956073033,-1.1501523952514268]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[-0.6292530163579386,1.2892560899100096,0.71338606911949],"aabb_xy":[[-0.6467997112740577,1.2517560883457584],[-0.6117063214418198,1.3267560914742609]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[-0.46058514996873534,-1.143225845495441,0.71338606911949],"aabb_xy":[[-0.5245851506722048,-1.189244227968362],[-0.39658514926526606,-1.09720746302252]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_27","position":[-0.3496558650188802,1.2701713339891536,0.71338606911949],"aabb_xy":[[-0.41365586431304835,1.2061851936202994],[-0.2856558657247119,1.3341574743580078]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_28","position":[0.4127368881681275,-1.4537622055596602,0.71338606911949],"aabb_xy":[[0.35273688652520563,-1.5057623548516044],[0.47273688981104933,-1.401762056267716]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_29","position":[0.6867897186395029,1.2385245458741805,0.71338606911949],"aabb_xy":[[0.6828292348697685,1.2308566812886597],[0.6907502024092372,1.2461924104597009]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_30","position":[0.5694933215992191,1.4435002328607927,0.71338606911949],"aabb_xy":[[0.48449332318179594,1.3586259373985077],[0.6544933200166424,1.5283745283230776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6579046045303113,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1009.png","name":"1009"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1009.png","name":"1009"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4379.png","name":"4379"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7187.png","name":"7187"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9254.png","name":"9254"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2867.png","name":"2867"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":714.6350658071108,"rotation_z_degrees":31.75629976704939,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-5.06441004685769e-05,0.0060242984523490375,-0.018563708875588995]},{"name":"camera_2","offset_m":[-0.013329051763946071,0.013176848965326522,0.01839163105614156]},{"name":"camera_3","offset_m":[0.016770593168167616,-0.012562451329326124,0.017928421296127036]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014626856030227429,-9.660224586839389e-05,2.1350010579583058e-05],"end_effector_yaw_offset_degrees":-0.4760639972189675},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.544240395023362e-05,0.0001955093131638802,-0.0017595673945806634],"end_effector_yaw_offset_degrees":-0.8815918438585693},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010774810029585743,0.0011128240881763981,0.00038247654219175295],"end_effector_yaw_offset_degrees":-0.3525707069743629}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014829627703690134,5.0796281017662787e-05],"position_m":[0.19838296277036901,0.30775079628101765,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010068649230667937,-0.0014164493995107129],"position_m":[0.2427931350769332,-0.3356164493995107,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000658582022146653,-0.001300888532736424],"position_m":[0.29034141797785334,-0.07830088853273642,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015536737251734432,-0.0022321865857796576],"position_m":[0.33215367372517346,0.07866781341422034,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2def2cb2f679554e9cd0f20c06da79120503e44086a628b29f403289a757e526","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0087.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1009/tex_ceiling_textures_2867/tex_floor_textures_9254/tex_table_textures_4379/tex_wall_textures_7187","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3200330426516656092,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3200330426516656092,"visual_seed":3200330426516656092,"scene_id":"lab_003","finished_at":"2026-09-04T11:18:20"}
+{"episode_id":"ep_000088","started_at":"2026-09-04T11:18:23","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[-0.050175414282513375,-1.1808869962477235,0.71338606911949],"aabb_xy":[[-0.1141754145564916,-1.2309530964450115],[0.013824585991464855,-1.1308208960504356]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[0.09073391283368148,-2.569588577497641,0.71338606911949],"aabb_xy":[[0.05323391288991507,-2.5778816675324774],[0.1282339127774479,-2.561295487462804]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.018171115474508226,1.1074925661360275,0.71338606911949],"aabb_xy":[[-0.0318118347129711,1.057492566493467],[0.06815406566198755,1.1574925657785877]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.33072730994411764,-1.6347900087779323,0.71338606911949],"aabb_xy":[[-0.3366938488848534,-1.6407511534372965],[-0.3247607710033818,-1.6288288641185682]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[0.4596968200159681,0.6071615399856731,0.71338606911949],"aabb_xy":[[0.4384188118724958,0.5421615376596002],[0.4809748281594403,0.6721615423117463]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.3395823909493715,-1.699248863463819,0.71338606911949],"aabb_xy":[[-0.357215226542899,-1.716871809479442],[-0.32194955535584385,-1.681625917448196]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_6","position":[0.29685777023604587,-0.7127919893746715,0.71338606911949],"aabb_xy":[[0.20685777164157593,-0.7290425756880924],[0.3868577688305158,-0.6965414030612503]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.1357321483991275,-0.8508418869583005,0.71338606911949],"aabb_xy":[[-0.15790467537577832,-0.8730175541144235],[-0.11355962142247664,-0.8286662198021771]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.1455376271728187,-2.2091528084110394,0.71338606911949],"aabb_xy":[[-0.23553762950683776,-2.2866351629961525],[-0.05553762483879965,-2.1316704538259272]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[-0.46100993510581967,-0.2580726948845222,0.71338606911949],"aabb_xy":[[-0.5250099354833533,-0.3078179617353345],[-0.39700993472828605,-0.20832742803370996]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[-0.4132011080675145,-1.0810616890964526,0.71338606911949],"aabb_xy":[[-0.4169043693966533,-1.0847637074051704],[-0.40949784673837564,-1.0773596707877344]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[0.23576655153962744,1.2242062312907303,0.71338606911949],"aabb_xy":[[0.21218142807573262,1.1592062290452987],[0.2593516750035223,1.2892062335361623]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[0.19694614955828793,-1.4656985217498821,0.71338606911949],"aabb_xy":[[0.17806176578977773,-1.484584446530235],[0.21583053332679814,-1.4468125969695294]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[0.18703327659757885,-2.1412964141138544,0.71338606911949],"aabb_xy":[[0.17688026104342944,-2.1773659556865943],[0.19718629215172817,-2.1052268725411136]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.1966407839164806,-0.6968965781283853,0.71338606911949],"aabb_xy":[[-0.20148437867771057,-0.7017482306073696],[-0.19179718915525062,-0.6920449256494013]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[-0.3838843336648411,-1.3577688884247185,0.71338606911949],"aabb_xy":[[-0.4333647548787999,-1.4217688863375706],[-0.3344039124508823,-1.293768890511867]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.14194596401588677,1.165881728480609,0.71338606911949],"aabb_xy":[[-0.15517690955056807,1.1526543094586095],[-0.12871501848120548,1.1791091475026083]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.10362720389570157,-1.6686917118736673,0.71338606911949],"aabb_xy":[[0.053627202234206785,-1.7186901541293698],[0.15362720555719628,-1.6186932696179643]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.11967683187641642,-1.4083934445199622,0.71338606911949],"aabb_xy":[[-0.1996768321500234,-1.4813429923456787],[-0.03967683160280946,-1.3354438966942452]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[0.39192438694292964,0.24968549969854115,0.71338606911949],"aabb_xy":[[0.36407935016232246,0.21890100096022946],[0.4197694237235367,0.28046999843685283]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[-0.11600483329912104,-1.7952533702234206,0.71338606911949],"aabb_xy":[[-0.20600483697603916,-1.8566857768005245],[-0.02600482962220283,-1.7338209636463158]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.5762062697071608,1.476719784447123,0.71338606911949],"aabb_xy":[[-0.6112062696836567,1.4672551683995063],[-0.541206269730665,1.4861844004947395]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[-0.4946036518016508,-1.862351447625564,0.71338606911949],"aabb_xy":[[-0.554603652053052,-1.9166327726620285],[-0.4346036515502496,-1.8080701225890992]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_23","position":[0.653704718621176,0.3259579753186892,0.71338606911949],"aabb_xy":[[0.616204720045555,0.3132216796551312],[0.6912047171967967,0.3386942709822471]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[0.3683007667732483,1.5394407592202142,0.71338606911949],"aabb_xy":[[0.28330076835582507,1.4545664637579294],[0.45330076519067153,1.6243150546824994]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[-0.4197118344532099,0.4569661566966343,0.71338606911949],"aabb_xy":[[-0.42695560049945525,0.3769661584930319],[-0.4124680684069646,0.5369661549002367]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_26","position":[-0.6480817367480516,0.8892821610374151,0.71338606911949],"aabb_xy":[[-0.6785659868750817,0.839282161255919],[-0.6175974866210214,0.9392821608189109]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.44005897275082706,-1.2368435591867235,0.71338606911949],"aabb_xy":[[0.4050589728548081,-1.2452177946986636],[0.4750589726468458,-1.2284693236747835]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[0.6111779249788296,-0.16660392161935667,0.71338606911949],"aabb_xy":[[0.5461779240217024,-0.21855213355306222],[0.6761779259359568,-0.11465570968565107]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_29","position":[-0.1410274477866288,-1.966393128532046,0.71338606911949],"aabb_xy":[[-0.1910005133191443,-2.0163931283445793],[-0.09105438225411334,-1.9163931287195135]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_30","position":[0.024032035165610144,1.6350910690403588,0.71338606911949],"aabb_xy":[[0.019601405810769967,1.6296426973056766],[0.02846266452045032,1.6405394407750415]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_31","position":[0.3497989174174223,-1.1531567883002043,0.71338606911949],"aabb_xy":[[0.2797989156086769,-1.174510557064392],[0.4197989192261678,-1.1318030195360171]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[0.003845944500946219,0.7107621933160728,0.71338606911949],"aabb_xy":[[-0.05115405467564327,0.6557725185411151],[0.058845943677535706,0.7657518680910304]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_33","position":[0.38441330057266976,0.5978099946729167,0.71338606911949],"aabb_xy":[[0.37350752448510705,0.5178099982740875],[0.39531907666023247,0.6778099910717458]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_34","position":[0.49624686841883126,-2.4846756676500563,0.71338606911949],"aabb_xy":[[0.40655979211071575,-2.574675667904507],[0.5859339447269467,-2.394675667395606]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6609132822928581,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7138.png","name":"7138"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7138.png","name":"7138"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2177.png","name":"2177"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/849.png","name":"849"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4172.png","name":"4172"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6373.png","name":"6373"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":561.0825502101324,"rotation_z_degrees":278.1013805400975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004466161881724634,-0.0012460440114752322,0.00954912294783443]},{"name":"camera_2","offset_m":[0.002637340522749901,6.180420070275514e-05,0.01646035363625287]},{"name":"camera_3","offset_m":[0.007504522694573287,-0.01669478402214308,-0.00504942801758681]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00029357437414557585,0.00011091928472376595,0.0005164770431483022],"end_effector_yaw_offset_degrees":0.32168229394578285},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009578220915091933,-0.001644772343864987,0.0009905574214773283],"end_effector_yaw_offset_degrees":0.2784479158177253},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00031791920144719167,0.0018523479397217373,-0.0011113639661421266],"end_effector_yaw_offset_degrees":0.29821563030501275}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007526074198216945,-3.679513577185996e-05],"position_m":[0.19765260741982169,0.3076632048642281,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034768854434420746,0.0002660349697022968],"position_m":[0.24727688544344206,-0.3339339650302977,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004387899494828902,0.0005923934093490131],"position_m":[0.28661210050517105,-0.07640760659065099,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001950365556808279,-0.002833157291492734],"position_m":[0.32864963444319173,0.07806684270850726,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3e260c0a6c84b76bb560d8c93f23ab57a2f308c9364c42b1acf5511dc6b83bff","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0088.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7138/tex_ceiling_textures_6373/tex_floor_textures_4172/tex_table_textures_2177/tex_wall_textures_849","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":9187674094145057583,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":9187674094145057583,"visual_seed":9187674094145057583,"scene_id":"lab_003","finished_at":"2026-09-04T11:21:25"}
+{"episode_id":"ep_000089","started_at":"2026-09-04T11:21:28","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.35444267119768885,-0.21472604929118244,0.71338606911949],"aabb_xy":[[-0.37211830178628713,-0.23240626557058514],[-0.33676704060909046,-0.19704583301177964]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.4281571304809717,-2.2433405905605266,0.71338606911949],"aabb_xy":[[0.3481571272169586,-2.25690062286944],[0.5081571337449848,-2.2297805582516133]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.5348005075798716,-1.9561858276094808,0.71338606911949],"aabb_xy":[[0.5242330279217726,-1.9667308577224896],[0.5453679872379706,-1.9456407974964725]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[-0.32320435245836915,-1.3562182522603627,0.71338606911949],"aabb_xy":[[-0.3872043497440178,-1.3977249712132067],[-0.2592043551727205,-1.3147115333075188]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.5696756301090395,-1.137310471930604,0.71338606911949],"aabb_xy":[[0.48967563314600027,-1.2143861135743772],[0.6496756270720786,-1.0602348302868303]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.5644492192834348,1.0664717977938993,0.71338606911949],"aabb_xy":[[-0.6260399785074277,1.0024717996848524],[-0.502858460059442,1.1304717959029462]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[0.6535619683676686,1.1163503799879102,0.71338606911949],"aabb_xy":[[0.6447807412204323,1.10757063269938],[0.6623431955149048,1.1251301272764405]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.3071109255144475,0.49476615891655307,0.71338606911949],"aabb_xy":[[0.28464615554304235,0.47226615803769256],[0.3295756954858526,0.5172661597954136]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.5701020136092992,1.5154435378182263,0.71338606911949],"aabb_xy":[[-0.5780252938480476,1.4929435375802227],[-0.5621787333705509,1.5379435380562294]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[-0.4469985750753718,-1.3587024246147248,0.71338606911949],"aabb_xy":[[-0.45309320296349015,-1.3672718191663935],[-0.4409039471872535,-1.350133030063056]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.01782252692444941,-1.2518158238954167,0.71338606911949],"aabb_xy":[[0.011320890416444794,-1.2615836459217264],[0.02432416343245403,-1.242048001869107]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.532842198687735,-1.629094063154679,0.71338606911949],"aabb_xy":[[0.4628421960511485,-1.6491989281505446],[0.6028422013243212,-1.6089891981588136]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.5416581700799117,-0.44314842426222034,0.71338606911949],"aabb_xy":[[0.45665817166248834,-0.5280227197245053],[0.6266581684973348,-0.35827412879993537]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.32185670799545285,-1.1121383526740942,0.71338606911949],"aabb_xy":[[-0.38585671004518485,-1.1522328357634024],[-0.25785670594572085,-1.0720438695847865]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[0.6089417517442017,0.5639147956571611,0.71338606911949],"aabb_xy":[[0.5996481335070512,0.5264147971690271],[0.6182353699813523,0.6014147941452949]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.066737300917184,1.6019292433106664,0.71338606911949],"aabb_xy":[[-0.07163659322374749,1.5742523240080972],[-0.0618380086106205,1.6296061626132348]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.03585813867027665,0.9472245035988394,0.71338606911949],"aabb_xy":[[0.02068596938864331,0.9320556466706361],[0.05103030795190999,0.9623933605270428]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.558918656375611,-2.066764995111524,0.71338606911949],"aabb_xy":[[0.5218845469475512,-2.101142202445233],[0.5959527658036706,-2.032387787777814]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.0586250239460111,0.6515554711738689,0.71338606911949],"aabb_xy":[[0.020079331120810062,0.6130097001176802],[0.09717071677121214,0.6901012422300574]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.4013932845817445,-1.3600877109445138,0.71338606911949],"aabb_xy":[[0.3926953222910292,-1.3722126852519887],[0.4100912468724598,-1.3479627366370392]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[-0.10569631692956671,0.5384533476304916,0.71338606911949],"aabb_xy":[[-0.11746450372422425,0.45345334772527013],[-0.09392813013490921,0.6234533475357132]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.05135045366203306,-2.289912286344952,0.71338606911949],"aabb_xy":[[-0.012649548680768499,-2.334853137589084],[0.11535045600483462,-2.244971435100819]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[-0.4568884410060928,1.4578406547141456,0.71338606911949],"aabb_xy":[[-0.4603291172461501,1.4539792217397811],[-0.45344776476603577,1.46170208768851]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[0.46204452406859975,-1.486165025843665,0.71338606911949],"aabb_xy":[[0.4080289277866997,-1.5501650287359219],[0.5160601203504998,-1.4221650229514076]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[0.4859071157840369,0.4462766825741906,0.71338606911949],"aabb_xy":[[0.45476019694045366,0.37627668388738345],[0.5170540346276199,0.5162766812609978]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_25","position":[-0.662369606096205,0.1357436955563207,0.71338606911949],"aabb_xy":[[-0.6873696053681672,0.11939833196015838],[-0.6373696068242426,0.15208905915248305]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6623638441686943,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/818.png","name":"818"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/818.png","name":"818"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2644.png","name":"2644"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5849.png","name":"5849"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4573.png","name":"4573"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4484.png","name":"4484"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":545.2377473806613,"rotation_z_degrees":216.00233361240018,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015875668443243025,0.011819464600500613,0.01104448955680462]},{"name":"camera_2","offset_m":[-0.001439112285506458,-0.0025740969261820144,0.005982041255231375]},{"name":"camera_3","offset_m":[0.006212013264071871,-0.004984458279767283,-0.00333737778334383]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019423284500835912,0.001296391597857795,-0.0019402883020809667],"end_effector_yaw_offset_degrees":0.31121056365576005},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019077585595729538,0.0018615254591958195,0.00024823673865996456],"end_effector_yaw_offset_degrees":-0.7350010540157488},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013084456799945282,0.0019165456137034288,-0.00010316952192727111],"end_effector_yaw_offset_degrees":0.48422682088976865}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-7.556262081530665e-05,0.0016230100684471171],"position_m":[0.19682443737918467,0.3093230100684471,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031916855185924924,-0.0030781898773251173],"position_m":[0.2469916855185925,-0.3372781898773251,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009382740016538552,0.0012880565149961361],"position_m":[0.2900617259983461,-0.07571194348500386,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018297879053765856,0.0010930573858269942],"position_m":[0.3324297879053766,0.08199305738582699,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"07618944ddca8391393411ed38fb61dc1657fffdbbec5243fcae1d58887d58c8","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0089.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_818/tex_ceiling_textures_4484/tex_floor_textures_4573/tex_table_textures_2644/tex_wall_textures_5849","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8935609490312841090,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8935609490312841090,"visual_seed":8935609490312841090,"scene_id":"lab_003","finished_at":"2026-09-04T11:24:26"}
+{"episode_id":"ep_000090","started_at":"2026-09-04T11:24:29","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.48481508075937807,0.4895205412782273,0.71338606911949],"aabb_xy":[[-0.4897711009442593,0.46702054107610574],[-0.47985906057449695,0.5120205414803489]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.49798970770260365,-0.18847457478130858,0.71338606911949],"aabb_xy":[[0.4519046164478722,-0.25247457203386364],[0.5440747989573351,-0.12447457752875345]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[0.5396139660258121,-1.7001211362754716,0.71338606911949],"aabb_xy":[[0.46961396442353265,-1.713553929477129],[0.6096139676280916,-1.6866883430738138]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[0.18407094207081132,-2.1807748373525624,0.71338606911949],"aabb_xy":[[0.16657094182576193,-2.198274625192129],[0.2015709423158607,-2.163275049512995]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.2773087406355559,1.1660735477049737,0.71338606911949],"aabb_xy":[[0.19730874362130785,1.1459389960315622],[0.3573087376498038,1.1862080993783848]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.6073913345282816,0.5930279829306278,0.71338606911949],"aabb_xy":[[-0.6430204904282414,0.5573953161737748],[-0.5717621786283219,0.6286606496874807]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.0325204008089468,-1.6102294286627203,0.71338606911949],"aabb_xy":[[-0.0009197743870728094,-1.64367305449365],[0.06596057600496638,-1.5767858028317898]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.24717266330597443,-0.9248357057554852,0.71338606911949],"aabb_xy":[[0.21217266411315613,-0.9358027517531478],[0.2821726624987927,-0.9138686597578225]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[-0.4531603007938405,-1.2162667366548183,0.71338606911949],"aabb_xy":[[-0.49066030061087407,-1.2209049479659602],[-0.41566030097680695,-1.2116285253436765]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.24221477363944044,-0.8442911102883579,0.71338606911949],"aabb_xy":[[-0.3322147773163585,-0.9057235168654619],[-0.1522147699625222,-0.7828587037112532]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.4327554521508124,0.43979883004959497,0.71338606911949],"aabb_xy":[[-0.4376547444573758,0.4121219107470261],[-0.4278561598442488,0.4674757493521636]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.31044418167846777,-2.1434449325770655,0.71338606911949],"aabb_xy":[[0.30115056344131713,-2.1809449310651994],[0.3197377999156183,-2.1059449340889316]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[0.16167674184001868,-1.458108293575776,0.71338606911949],"aabb_xy":[[0.09767674325344622,-1.5051152569752848],[0.22567674042659114,-1.4111013301762674]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[0.6327675415071365,0.941372939336079,0.71338606911949],"aabb_xy":[[0.6264554419707983,0.9356060000828602],[0.639079641043475,0.9471398785892978]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.26061025949487304,-1.4864918736609622,0.71338606911949],"aabb_xy":[[-0.33061026162630247,-1.5092538392866577],[-0.1906102573634434,-1.4637299080352664]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[0.540510580079625,0.9476100989236431,0.71338606911949],"aabb_xy":[[0.5101124689804813,0.9172031969219735],[0.5709086911787685,0.9780170009253125]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[-0.14462294435281742,-2.50874248131546,0.71338606911949],"aabb_xy":[[-0.15598467900610358,-2.520110947721747],[-0.13326120969953126,-2.4973740149091714]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[-0.46792447384423713,-2.1888544755820174,0.71338606911949],"aabb_xy":[[-0.5038379782692268,-2.2247679837987717],[-0.4320109694192474,-2.152940967365262]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[0.6369307730655018,-1.0776646447272356,0.71338606911949],"aabb_xy":[[0.6119307731329839,-1.0845473129481589],[0.6619307729980197,-1.0707819765063122]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.5022748974583242,-0.5815277328113999,0.71338606911949],"aabb_xy":[[0.46009048329749347,-0.6455277330886111],[0.544459311619155,-0.5175277325341887]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.28158512811021075,1.4938782583375887,0.71338606911949],"aabb_xy":[[0.26457503082016004,1.4777437698393145],[0.29859522540026134,1.5100127468358624]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.4516203657964125,-0.025594170352887247,0.71338606911949],"aabb_xy":[[-0.47545658343701763,-0.11559417116137374],[-0.4277841481558075,0.06440583045559924]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[0.4130351385530715,0.3480850250131242,0.71338606911949],"aabb_xy":[[0.3884889229303207,0.31783612846408715],[0.43758135417582217,0.3783339215621613]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[-0.5228574888184784,-2.091401910630921,0.71338606911949],"aabb_xy":[[-0.6028574898915987,-2.1011799569683056],[-0.44285748774535805,-2.0816238642935367]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_24","position":[-0.34270044166905556,0.8924312449994716,0.71338606911949],"aabb_xy":[[-0.4127004380790173,0.8719933093477896],[-0.2727004452590937,0.9128691806511531]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_25","position":[0.14684867651302136,1.3134884799102506,0.71338606911949],"aabb_xy":[[0.08684867565220851,1.2620620499037638],[0.2068486773738341,1.3649149099167366]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[-0.06682692635305965,1.2933974316272239,0.71338606911949],"aabb_xy":[[-0.1168219373125117,1.2433974325916322],[-0.016831915393607625,1.3433974306628156]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[-0.572465073159996,-1.0361001708897772,0.71338606911949],"aabb_xy":[[-0.5765432310670457,-1.0401811511380405],[-0.5683869152529462,-1.032019190641514]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_28","position":[0.5553887635108168,0.25024795091176477,0.71338606911949],"aabb_xy":[[0.5053894883423807,0.2002479496358176],[0.6053880386792531,0.30024795218771194]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6616242087007751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3148.png","name":"3148"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3148.png","name":"3148"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9075.png","name":"9075"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9375.png","name":"9375"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9068.png","name":"9068"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8319.png","name":"8319"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":507.6442769207533,"rotation_z_degrees":327.37329978204707,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006464965435406542,0.007982979569627176,-0.014943242635036769]},{"name":"camera_2","offset_m":[0.007059890830210365,0.01466531863984748,-0.014156240116874925]},{"name":"camera_3","offset_m":[0.016286735792289096,-0.018070962124183833,-0.013047612959324485]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014157109645145322,0.0013595374783232934,-0.0007673526130387188],"end_effector_yaw_offset_degrees":0.39557220746400934},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00017728374264273754,-0.0011005040999476168,0.0005733857213564269],"end_effector_yaw_offset_degrees":0.9481391706415785},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003863693498667997,0.001357423738896775,0.0005223076938218542],"end_effector_yaw_offset_degrees":0.11131044133990953}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00457673325392819,0.0032174668326459986],"position_m":[0.20147673325392818,0.310917466832646,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004931966130761249,0.001348330155055746],"position_m":[0.24873196613076123,-0.33285166984494424,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018336713383707527,-0.0032785634899542724],"position_m":[0.29283367133837074,-0.08027856348995427,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025331831350654584,-0.004415001533383437],"position_m":[0.33313318313506546,0.07648499846661656,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"811bd104dfcb196d30e2e0f2e2bfc9287b947c3b5cc8a5a5eb56681643f689fa","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3148/tex_ceiling_textures_8319/tex_floor_textures_9068/tex_table_textures_9075/tex_wall_textures_9375","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2216601962428898645,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2216601962428898645,"visual_seed":2216601962428898645,"scene_id":"lab_003","finished_at":"2026-09-04T11:27:42"}
+{"episode_id":"ep_000091","started_at":"2026-09-04T11:27:46","dimensions":{"distractor":{"count":22,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[0.0463300679764308,-0.9381422361063243,0.71338606911949],"aabb_xy":[[0.03624836089785732,-1.018142233998439],[0.05641177505500427,-0.8581422382142095]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[0.6682214687131536,0.49236035344151086,0.71338606911949],"aabb_xy":[[0.6323079642881639,0.4564468452247562],[0.7041349731381432,0.5282738616582654]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.2621570995868166,-0.12625377750007516,0.71338606911949],"aabb_xy":[[-0.3261570988809848,-0.19023991786892935],[-0.19815710029264838,-0.062267637131220965]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[0.1656011926342159,-1.1518407665692998,0.71338606911949],"aabb_xy":[[0.11562812710170045,-1.201840766381833],[0.2155742581667314,-1.1018407667567671]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[-0.6304041277652319,-1.642328936469731,0.71338606911949],"aabb_xy":[[-0.6391853549124682,-1.6511086837582618],[-0.6216229006179956,-1.6335491891812013]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.5582529227030524,-0.0006994894336589397,0.71338606911949],"aabb_xy":[[-0.57588575829658,-0.018322435449281912],[-0.5406200871095248,0.016923456581964032]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.15445307957040733,-0.7757033211914826,0.71338606911949],"aabb_xy":[[-0.1879322468314483,-0.8091824345625895],[-0.12097391230936641,-0.7422242078203756]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[0.30490430754563824,1.6016124203516582,0.71338606911949],"aabb_xy":[[0.23990430654513772,1.5508260551969832],[0.36990430854613876,1.6523987855063331]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.6142859721731597,-1.791528014045801,0.71338606911949],"aabb_xy":[[0.5592859729965701,-1.8465176888207584],[0.6692859713497491,-1.7365383392708431]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[0.2540327971719708,1.2882823500582052,0.71338606911949],"aabb_xy":[[0.244615322602108,1.278866172920486],[0.2634502717418335,1.297698527195924]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[-0.5850723438183606,-0.48859923755795576,0.71338606911949],"aabb_xy":[[-0.622572343762127,-0.49689232759279234],[-0.5475723438745942,-0.4803061475231192]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.2514900919633617,-1.4104512983722806,0.71338606911949],"aabb_xy":[[-0.2793351287439689,-1.4412357971105922],[-0.22364505518275463,-1.3796667996339689]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.08692129430092632,-2.0726556606409874,0.71338606911949],"aabb_xy":[[-0.14455176318819712,-2.1326556595676975],[-0.029290825413655443,-2.0126556617142763]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[0.4751543816573385,0.9158516199793669,0.71338606911949],"aabb_xy":[[0.4151543811494855,0.8590048862934456],[0.5351543821651913,0.9726983536652882]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[0.5882874859482705,-0.6200574673475894,0.71338606911949],"aabb_xy":[[0.5663788038089194,-0.6419581341676801],[0.6101961680876214,-0.5981568005274986]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.40923814558487326,-2.0918366392751415,0.71338606911949],"aabb_xy":[[0.3717381440692416,-2.103063412291286],[0.446738147100505,-2.080609866258996]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[0.5813004683367322,-1.9687835893912622,0.71338606911949],"aabb_xy":[[0.521300468085331,-2.023064914427727],[0.6413004685881334,-1.9145022643547973]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[0.6026135341567564,-0.12888932230676042,0.71338606911949],"aabb_xy":[[0.5657629862197688,-0.16638932312979415],[0.6394640820937441,-0.0913893214837267]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.02932344824425326,-1.6991803525398455,0.71338606911949],"aabb_xy":[[-0.03467655092551668,-1.745947039658808],[0.0933234474140232,-1.652413665420883]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.4100759065756543,-2.3596171411548355,0.71338606911949],"aabb_xy":[[0.36019320969795815,-2.4096171404011106],[0.4599586034533506,-2.309617141908561]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[0.459387176613564,-1.0351026722156929,0.71338606911949],"aabb_xy":[[0.4218871781901636,-1.0482668861835231],[0.4968871750369643,-1.0219384582478621]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.19020862887852497,1.659692129274625,0.71338606911949],"aabb_xy":[[-0.24020174098771688,1.6096921286004293],[-0.14021551676933308,1.7096921299488206]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6602707028207383,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6523.png","name":"6523"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6523.png","name":"6523"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1624.png","name":"1624"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5218.png","name":"5218"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1620.png","name":"1620"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6178.png","name":"6178"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":509.8664011427829,"rotation_z_degrees":241.89790648895467,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00614000230866385,0.0004992687090261856,0.005379905302679483]},{"name":"camera_2","offset_m":[0.011546938935296524,-0.012158317110932643,0.008569489309576211]},{"name":"camera_3","offset_m":[-0.01835445965582135,-0.006284327291355285,0.011041929413859057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017932557981130857,0.0016879000760893596,0.0019790938874771026],"end_effector_yaw_offset_degrees":-0.1462104343329469},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012246849569924308,-0.0007316605511995765,0.001552995969453826],"end_effector_yaw_offset_degrees":0.8918999422144442},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015287668934853265,-0.001964196665812797,0.0017047358761387516],"end_effector_yaw_offset_degrees":-0.6817042879972817}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002492531330275555,0.0037093842627430535],"position_m":[0.19440746866972444,0.311409384262743,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014999597549433929,-0.001826831188509597],"position_m":[0.24529995975494337,-0.33602683118850957,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001647301809069436,-0.001800114642491464],"position_m":[0.28935269819093057,-0.07880011464249147,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028235443801145144,-0.0020648821304088227],"position_m":[0.3334235443801145,0.07883511786959117,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bf10e9edffa9e0f7e5e35eec8bbad743eac5bcee2c4286d23dd45e2b2b931a43","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6523/tex_ceiling_textures_6178/tex_floor_textures_1620/tex_table_textures_1624/tex_wall_textures_5218","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6037283061107594726,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6037283061107594726,"visual_seed":6037283061107594726,"scene_id":"lab_003","finished_at":"2026-09-04T11:30:40"}
+{"episode_id":"ep_000092","started_at":"2026-09-04T11:30:43","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[0.5311754825835251,1.3811908759450282,0.71338606911949],"aabb_xy":[[0.4511816590049669,1.3011908733521866],[0.6111693061620833,1.4611908785378698]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.680983869899735,-1.3519931762933137,0.71338606911949],"aabb_xy":[[0.6681119663987949,-1.4319931767071499],[0.6938557734006752,-1.2719931758794776]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[0.4822116183338563,-0.34491547305792647,0.71338606911949],"aabb_xy":[[0.4322123431654201,-0.39491547433387364],[0.5322108935022924,-0.2949154717819793]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[0.5168349977512727,1.8019871370431688,0.71338606911949],"aabb_xy":[[0.5042082104640764,1.7924410633415955],[0.5294617850384691,1.8115332107447413]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[-0.13944783341802447,-1.4722069315314172,0.71338606911949],"aabb_xy":[[-0.1894320691262017,-1.522206930344913],[-0.08946359770984724,-1.4222069327179219]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.1501865502406471,1.298520913141533,0.71338606911949],"aabb_xy":[[-0.1620586332521482,1.2135209134478826],[-0.13831446722914598,1.3835209128351833]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[-0.30872633244000314,-0.874473446793788,0.71338606911949],"aabb_xy":[[-0.3178862113838797,-0.8810046648373252],[-0.2995664534961265,-0.8679422287502511]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.574978221799959,0.11978265034543556,0.71338606911949],"aabb_xy":[[0.540515874401817,0.08528876794761284],[0.6094405691981006,0.1542765327432582]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[0.4226226743903192,0.20749083378746525,0.71338606911949],"aabb_xy":[[0.41105369364338273,0.18249083367053356],[0.4341916551372559,0.23249083390439698]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.4103264719638864,1.1050146004568475,0.71338606911949],"aabb_xy":[[0.3453264740822386,1.0538909367503067],[0.4753264698455342,1.1561382641633884]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.03988649392956922,0.778114076403702,0.71338606911949],"aabb_xy":[[-0.050113505488801675,0.7447385795595123],[0.1298864933479401,0.8114895732478917]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[0.14712619454203157,1.4402717605891442,0.71338606911949],"aabb_xy":[[0.08212619343608826,1.415306387521016],[0.21212619564797483,1.4652371336572725]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[0.6597209101632486,-1.1555324085161491,0.71338606911949],"aabb_xy":[[0.6441651407529835,-1.1710828417605565],[0.675276679573514,-1.1399819752717422]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.1590483649177511,-0.9354820818923304,0.71338606911949],"aabb_xy":[[0.13653467309429387,-1.005482082493338],[0.18156205674120826,-0.8654820812913229]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[0.10259372022152224,-0.7808056324944861,0.71338606911949],"aabb_xy":[[0.0991530439814651,-0.7846670654688506],[0.10603439646157944,-0.7769441995201216]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.5520515826835513,0.5440296249500203,0.71338606911949],"aabb_xy":[[-0.5695515818179184,0.5341499979124323],[-0.5345515835491841,0.553909251987608]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[0.4760561821860081,-0.9600531506152952,0.71338606911949],"aabb_xy":[[0.45855618194095865,-0.9775529384548618],[0.4935561824310574,-0.9425533627757281]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.5878937689112933,-1.5007608456814994,0.71338606911949],"aabb_xy":[[-0.6098024510506443,-1.52266151250159],[-0.5659850867719423,-1.4788601788614086]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.16582661048613456,-1.7098829961939015,0.71338606911949],"aabb_xy":[[-0.22345707937340537,-1.7698829951206116],[-0.10819614159886368,-1.6498829972671905]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.549512850388705,-2.0263660378832435,0.71338606911949],"aabb_xy":[[0.4695128489585778,-2.1058831928958526],[0.6295128518188322,-1.9468488828706336]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[0.4740678518943464,-1.0612345030679384,0.71338606911949],"aabb_xy":[[0.43815434746935666,-1.097148011284693],[0.509981356319336,-1.0253209948511839]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_21","position":[0.6658010913854426,-1.662778457162698,0.71338606911949],"aabb_xy":[[0.6230343845060226,-1.7267784605845005],[0.7085677982648629,-1.5987784537408956]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6592999047572442,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9161.png","name":"9161"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9161.png","name":"9161"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2022.png","name":"2022"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/804.png","name":"804"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5800.png","name":"5800"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/43.png","name":"43"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":814.9787598567145,"rotation_z_degrees":155.55326057623617,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015363565607935958,-0.007404778145760274,-0.01955784640474228]},{"name":"camera_2","offset_m":[0.0016524077371884022,-0.007907766789797566,1.1258144217887733e-05]},{"name":"camera_3","offset_m":[-0.003914259644866736,0.01293032484939215,0.0052221110418736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00026078361109498115,0.0011393084440403261,0.001305460633516262],"end_effector_yaw_offset_degrees":-0.38373745527714553},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014743596774434479,-0.001037709932972847,-0.000688671430679805],"end_effector_yaw_offset_degrees":-0.049735657204383},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011189599450372612,0.00037841324966945674,0.0009442840390178238],"end_effector_yaw_offset_degrees":0.5652746403044371}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004678956170853507,0.003085799013830339],"position_m":[0.2015789561708535,0.3107857990138303,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005027341540777934,-0.0016058647348231058],"position_m":[0.24430273415407777,-0.3358058647348231,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001538473731065037,-0.0022086170772387115],"position_m":[0.292538473731065,-0.07920861707723871,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00047526294113288143,-0.0026857908408160313],"position_m":[0.3310752629411329,0.07821420915918396,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"32c4bbe0fc1859da6041ba3a6bb9b7ad83554edfc9a7b769d7aa46cce1eb1d9c","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0092.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9161/tex_ceiling_textures_43/tex_floor_textures_5800/tex_table_textures_2022/tex_wall_textures_804","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7093000534132514430,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7093000534132514430,"visual_seed":7093000534132514430,"scene_id":"lab_003","finished_at":"2026-09-04T11:33:39"}
+{"episode_id":"ep_000093","started_at":"2026-09-04T11:33:43","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.4852477112342826,0.7616337272627138,0.71338606911949],"aabb_xy":[[-0.5202477112107784,0.7521691112150973],[-0.45024771125778684,0.7710983433103306]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[0.49222724141267604,-0.7630980556478939,0.71338606911949],"aabb_xy":[[0.4834460142654399,-0.7718778029364243],[0.5010084685599124,-0.754318308359364]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.03370552484534617,1.000888264124948,0.71338606911949],"aabb_xy":[[0.023138045187247158,0.9903432340119391],[0.04427300450344518,1.0114332942379562]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.5823234134727675,-1.1833431471381972,0.71338606911949],"aabb_xy":[[0.5714176373852048,-1.2633431435370261],[0.5932291895603302,-1.1033431507393678]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.6087653623046925,0.02681443587524379,0.71338606911949],"aabb_xy":[[-0.6887653625782993,-0.046135111950472915],[-0.5287653620310854,0.0997639837009605]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[0.17158730759753316,-2.052826992554397,0.71338606911949],"aabb_xy":[[0.11158730700151698,-2.1076394650996204],[0.23158730819354933,-1.9980145200091735]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[0.27615172662892185,-1.6631610291158783,0.71338606911949],"aabb_xy":[[0.21215172471657956,-1.719072178373889],[0.34015172854126424,-1.607249879857868]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[-0.18737721290728981,-0.30228204728766483,0.71338606911949],"aabb_xy":[[-0.22329071733227948,-0.3381955555044194],[-0.1514637084823001,-0.2663685390709102]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.23924861885814908,0.6466247963199261,0.71338606911949],"aabb_xy":[[0.1792486190115823,0.5898061741268873],[0.29924861870471586,0.7034434185129647]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[0.29394327045328117,-2.4061548248559976,0.71338606911949],"aabb_xy":[[0.23881806482369036,-2.4661548262972848],[0.3490684760828719,-2.3461548234147105]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.5090652475084643,-2.527197705255467,0.71338606911949],"aabb_xy":[[0.44506524713093065,-2.5769429721062793],[0.5730652478859979,-2.477452438404655]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[0.2745500416422202,1.4178790939979344,0.71338606911949],"aabb_xy":[[0.2495500417097023,1.4109964257770111],[0.2995500415747381,1.4247617622188578]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[0.5794179437753719,-1.9023464450169418,0.71338606911949],"aabb_xy":[[0.5494503868655463,-1.9323464453148278],[0.6093855006851976,-1.8723464447190563]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[-0.32827318044415527,-2.252036703034897,0.71338606911949],"aabb_xy":[[-0.41827317903862526,-2.268287289348318],[-0.23827318184968538,-2.2357861167214765]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[0.4151171911161271,-0.7737637436222546,0.71338606911949],"aabb_xy":[[0.40953551948199834,-0.7862637434400301],[0.42069886275025586,-0.7612637438044791]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.4637135062805495,1.4564794181049483,0.71338606911949],"aabb_xy":[[0.41372039417135775,1.4064794174307529],[0.5137066183897415,1.5064794187791444]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[-0.049096002761342405,-1.6454252792567754,0.71338606911949],"aabb_xy":[[-0.07694103954194953,-1.6762097779950873],[-0.02125096598073528,-1.614640780518464]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[-0.6137231297440546,-1.2207560643444548,0.71338606911949],"aabb_xy":[[-0.623804836822628,-1.3007560622365693],[-0.603641422665481,-1.14075606645234]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[0.33486130706850536,-1.2550589686096816,0.71338606911949],"aabb_xy":[[0.3123621713422784,-1.2775589693879446],[0.35736044279473234,-1.2325589678314186]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.20122066894832807,-2.4744209021211243,0.71338606911949],"aabb_xy":[[-0.25621291958383907,-2.5294209038644375],[-0.14622841831281713,-2.419420900377812]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.3141159181634125,-1.673054085446127,0.71338606911949],"aabb_xy":[[-0.3366159181735608,-1.6871503050857306],[-0.2916159181532642,-1.658957865806524]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6607481368273934,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9886.png","name":"9886"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9886.png","name":"9886"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1084.png","name":"1084"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4687.png","name":"4687"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9071.png","name":"9071"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7436.png","name":"7436"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":652.7382512789555,"rotation_z_degrees":243.02838967342996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0009363221218896267,0.014062321523449366,0.01478858797593997]},{"name":"camera_2","offset_m":[-0.008828783150462689,-0.018993998342623414,0.002527895695222441]},{"name":"camera_3","offset_m":[-0.004730617314733756,0.01515880219478238,-0.002374592581412892]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008713508594721487,-0.0014948073774747532,-0.0014155725210582082],"end_effector_yaw_offset_degrees":0.7301631086270686},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005482808749266502,-0.0008891302350601355,1.1592854273516449e-05],"end_effector_yaw_offset_degrees":-0.6197987379857841},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008733847841329264,0.000986986288072434,-0.0005578049030362279],"end_effector_yaw_offset_degrees":-0.6577701123371538}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022551748991470853,0.000753811433821837],"position_m":[0.19915517489914708,0.30845381143382183,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004926694715417109,0.003084013747394262],"position_m":[0.24872669471541708,-0.33111598625260574,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003765312252023207,-0.0005550675630754164],"position_m":[0.2947653122520232,-0.07755506756307541,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006567271864774005,0.003302405964983238],"position_m":[0.3299432728135226,0.08420240596498324,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f8f52c13367aa822e86cfb79a41072bd228e367708ede0a29c956e1acf43d1d7","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9886/tex_ceiling_textures_7436/tex_floor_textures_9071/tex_table_textures_1084/tex_wall_textures_4687","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7048633137639260656,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7048633137639260656,"visual_seed":7048633137639260656,"scene_id":"lab_003","finished_at":"2026-09-04T11:37:02"}
+{"episode_id":"ep_000094","started_at":"2026-09-04T11:37:05","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_0","position":[-0.5974852093675334,-1.8921357803859271,0.71338606911949],"aabb_xy":[[-0.6035798372556517,-1.9007051749375963],[-0.591390581479415,-1.8835663858342588]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.2877463045404842,-0.9518193856013486,0.71338606911949],"aabb_xy":[[0.23777323900796882,-1.0018193854138815],[0.33771937007299974,-0.9018193857888157]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[-0.4295202778716445,0.9567061678084072,0.71338606911949],"aabb_xy":[[-0.49352027824917805,0.906960900957595],[-0.3655202774941108,1.0064514346592195]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[0.09790873706675562,-1.0257018014161439,0.71338606911949],"aabb_xy":[[0.033908739954649936,-1.0747341712105545],[0.1619087341788613,-0.9766694316217333]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.5657350254694031,-0.48626890439482295,0.71338606911949],"aabb_xy":[[-0.603235025761578,-0.49031037979542663],[-0.5282350251772283,-0.4822274289942194]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[0.253121473689918,1.189421893317291,0.71338606911949],"aabb_xy":[[0.22790063683007825,1.1641981424644041],[0.27834231054975755,1.2146456441701776]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.5638045002478688,-0.8396124211192195,0.71338606911949],"aabb_xy":[[-0.627804500521847,-0.8896785213165075],[-0.49980449997389054,-0.7895463209219316]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[0.45742912225378074,-0.6166039667987113,0.71338606911949],"aabb_xy":[[0.4121505073726315,-0.680603966146895],[0.50270773713493,-0.5526039674505276]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.05963871998648673,-2.2327162830744958,0.71338606911949],"aabb_xy":[[-0.08210348995789185,-2.255216283953356],[-0.03717395001508162,-2.210216282195635]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.2973385449252668,1.5876023881374857,0.71338606911949],"aabb_xy":[[-0.34733854436546235,1.5376344636531691],[-0.24733854548507112,1.6375703126218017]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.24069732772218005,-1.8206277912429645,0.71338606911949],"aabb_xy":[[-0.27515980573526777,-1.827291468425887],[-0.20623484970909225,-1.8139641140600415]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.24448992801481573,0.7027004653546189,0.71338606911949],"aabb_xy":[[0.23292094726787915,0.6777004652376872],[0.2560589087617523,0.7277004654715507]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[0.21523982622265503,-1.7902417557408967,0.71338606911949],"aabb_xy":[[0.15760935733538411,-1.8502417546676069],[0.2728702951099258,-1.7302417568141857]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.49889551713061486,0.4304566881312675,0.71338606911949],"aabb_xy":[[0.47389551757887627,0.4203142042661327],[0.5238955166823532,0.44059917199640214]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.5083958300681686,-1.2357085057323114,0.71338606911949],"aabb_xy":[[0.5044353462984342,-1.243376370317832],[0.5123563138379029,-1.2280406411467908]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[-0.15670580820378055,-1.0575048282259112,0.71338606911949],"aabb_xy":[[-0.19355635614076816,-1.095004829048945],[-0.11985526026679294,-1.0200048274028775]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[-0.498146440123002,-1.5787600684195457,0.71338606911949],"aabb_xy":[[-0.5621464434127101,-1.6220949874234631],[-0.4341464368332939,-1.535425149415628]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[0.2528991678970989,-1.6319266086905184,0.71338606911949],"aabb_xy":[[0.23401478412858867,-1.6508125334708712],[0.2717835516656091,-1.6130406839101656]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.3396874286147613,0.7522191190720404,0.71338606911949],"aabb_xy":[[0.319629017001521,0.732154032162883],[0.3597458402280016,0.7722842059811981]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.04198947165898159,0.8843630547639947,0.71338606911949],"aabb_xy":[[-0.07698947085179986,0.8733960087663319],[-0.006989472466163327,0.8953301007616572]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[-0.3536490332050182,0.1961951006143896,0.71338606911949],"aabb_xy":[[-0.36881190618195536,0.18102964331927085],[-0.3384861602280812,0.2113605579095084]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[-0.5842249182478793,1.5543191976294257,0.71338606911949],"aabb_xy":[[-0.6303100095026107,1.4903192003768704],[-0.5381398269931478,1.6183191948819806]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[0.49486384284654017,0.042314388244246715,0.71338606911949],"aabb_xy":[[0.4308638455441937,-0.002052038723610039],[0.5588638401488866,0.08668081521210347]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[-0.48744999244505477,-1.938007383640009,0.71338606911949],"aabb_xy":[[-0.517441655178925,-1.9680073829768094],[-0.45745832971118433,-1.9080073843032084]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6598266811584524,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3189.png","name":"3189"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3189.png","name":"3189"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1563.png","name":"1563"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9936.png","name":"9936"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2272.png","name":"2272"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8071.png","name":"8071"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":765.9552844252387,"rotation_z_degrees":295.7814347164336,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004882218211339415,0.0015156254871807953,-0.01451483350144017]},{"name":"camera_2","offset_m":[0.008555277691490164,-0.012332307914341555,-0.004112719021959688]},{"name":"camera_3","offset_m":[-0.013280593209305951,0.016485679994546965,-0.008438420409621141]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001324584554247934,-0.0004854359913308991,0.0013696829882199175],"end_effector_yaw_offset_degrees":0.37976697361236367},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012602779203948387,-0.0011416123643170697,0.0005393497638324146],"end_effector_yaw_offset_degrees":0.3375761150267269},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00031128319628510826,-0.0002819767804202087,2.8974255142657623e-05],"end_effector_yaw_offset_degrees":0.18940564507159796}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018608135865806306,-0.0030030012426628915],"position_m":[0.19876081358658063,0.3046969987573371,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029752977589394764,0.0015610117554375],"position_m":[0.24677529775893947,-0.3326389882445625,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004619333939020945,0.0012141722895482286],"position_m":[0.2956193339390209,-0.07578582771045177,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022707358644901443,0.002642013640019642],"position_m":[0.32832926413550984,0.08354201364001965,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"05c8e578243115a1279483351b070b1d1d109fe5689a710c6db9937337405e5d","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3189/tex_ceiling_textures_8071/tex_floor_textures_2272/tex_table_textures_1563/tex_wall_textures_9936","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8073253224925174666,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8073253224925174666,"visual_seed":8073253224925174666,"scene_id":"lab_003","finished_at":"2026-09-04T11:40:03"}
+{"episode_id":"ep_000095","started_at":"2026-09-04T11:40:07","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.5006647288874644,1.5749180807660843,0.71338606911949],"aabb_xy":[[0.45068731202221074,1.5249180792768355],[0.5506421457527179,1.6249180822553326]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[0.17851146525485062,-0.8118883572827242,0.71338606911949],"aabb_xy":[[0.17088719716467238,-0.8195215808192682],[0.18613573334502886,-0.8042551337461807]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.5729646178153399,-1.2049035380396174,0.71338606911949],"aabb_xy":[[-0.5810079777412951,-1.2899035391349838],[-0.5649212578893847,-1.119903536944251]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[0.6587385196422346,-2.20178356237113,0.71338606911949],"aabb_xy":[[0.6365659926655837,-2.2239592295272526],[0.6809110466188854,-2.1796078952150064]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[0.3768347497571589,-0.9933369526631721,0.71338606911949],"aabb_xy":[[0.3425184725825409,-1.0433369526363498],[0.4111510269317768,-0.9433369526899945]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.06613884963074057,-1.4534290967231427,0.71338606911949],"aabb_xy":[[-0.07589483913991445,-1.463191630782377],[-0.056382860121566666,-1.443666562663908]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[-0.5415739579428305,0.25531974289880655,0.71338606911949],"aabb_xy":[[-0.5760364359559181,0.24865606571588367],[-0.5071114799297426,0.2619834200817293]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.19616518029925473,-2.2923088368689104,0.71338606911949],"aabb_xy":[[-0.2422502715539862,-2.3563088341214655],[-0.15008008904452325,-2.2283088396163553]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[0.15210992850673688,-0.6065620343312099,0.71338606911949],"aabb_xy":[[0.13460992824740026,-0.6206535765199827],[0.1696099287660735,-0.5924704921424374]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.22909104428903243,1.3668775997665747,0.71338606911949],"aabb_xy":[[-0.2930910463387645,1.326783116677267],[-0.16509104223930046,1.406972082855883]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[-0.1628201599697251,0.3148249204013496,0.71338606911949],"aabb_xy":[[-0.22682016231252666,0.269884069157217],[-0.09882015762692355,0.359765771645482]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.3238731991906688,-1.0482246505031199,0.71338606911949],"aabb_xy":[[-0.4038731978475548,-1.0627295094273825],[-0.2438732005337828,-1.0337197915788572]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[-0.251353273975718,1.5749828714078054,0.71338606911949],"aabb_xy":[[-0.3163532766135115,1.5235032727083584],[-0.1863532713379245,1.6264624701072523]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[-0.4528649120928708,0.041059065734180056,0.71338606911949],"aabb_xy":[[-0.5028649137543653,-0.008939376521522656],[-0.4028649104313759,0.09105750798988275]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.2972241431692257,-2.5507829461287796,0.71338606911949],"aabb_xy":[[-0.3316864905673674,-2.585276828526602],[-0.2627617957710838,-2.5162890637309565]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.6550910152218792,-1.3536479764394602,0.71338606911949],"aabb_xy":[[0.6457440076395841,-1.3679515986571045],[0.6644380228041745,-1.3393443542218164]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.291552030164168,-2.533701867576895,0.71338606911949],"aabb_xy":[[0.2690520301540197,-2.547798087216498],[0.31405203017431627,-2.5196056479372912]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.35102754835883104,0.8457788738985101,0.71338606911949],"aabb_xy":[[-0.38852754817586455,0.8411406625873682],[-0.31352754854179743,0.8504170852096519]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[-0.4411672717435583,-1.7578356051403858,0.71338606911949],"aabb_xy":[[-0.46005165551206845,-1.7767215299207386],[-0.42228288797504804,-1.738949680360033]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.3980361182459251,-2.3216952963091444,0.71338606911949],"aabb_xy":[[0.3605361181403321,-2.3285174581621257],[0.435536118351518,-2.314873134456163]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[0.39196984465013984,-0.6189374483619732,0.71338606911949],"aabb_xy":[[0.367456220553134,-0.6432020416640095],[0.4164834687471457,-0.5946728550599366]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.3170054696662561,-0.7761017653934543,0.71338606911949],"aabb_xy":[[0.27950546916889785,-0.7800704489415726],[0.35450547016361433,-0.7721330818453358]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[-0.1232438729770996,1.1661673012573903,0.71338606911949],"aabb_xy":[[-0.15824387432858134,1.1458075653005693],[-0.08824387162561786,1.186527037214211]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[0.5323502327734013,-1.8348902959680014,0.71338606911949],"aabb_xy":[[0.48235712066420955,-1.884890296642197],[0.5823433448825933,-1.7848902952938057]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[0.3175797303110999,1.1007071425439676,0.71338606911949],"aabb_xy":[[0.3058115435164424,1.015707142638746],[0.32934791710575745,1.1857071424491892]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[0.2104136300426822,-2.2812592385286794,0.71338606911949],"aabb_xy":[[0.1604187971147406,-2.3312592374239234],[0.2604084629706238,-2.2312592396334363]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[-0.14457710017959147,-2.0030426609466545,0.71338606911949],"aabb_xy":[[-0.15161855113033906,-2.010069412684449],[-0.13753564922884387,-1.99601590920886]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_27","position":[-0.42515396031655095,1.0767453172929535,0.71338606911949],"aabb_xy":[[-0.4751539612670837,1.0451961702894321],[-0.3751539593660181,1.108294464296475]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[-0.5015402825546523,-2.4555011300000076,0.71338606911949],"aabb_xy":[[-0.5665402835551527,-2.5062874951546825],[-0.4365402815541517,-2.4047147648453326]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_29","position":[0.40333107544152336,0.8887285439630852,0.71338606911949],"aabb_xy":[[0.33833107755987557,0.8376048802565446],[0.4683310733231712,0.9398522076696263]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_30","position":[0.6277269877432861,-1.2622013638616705,0.71338606911949],"aabb_xy":[[0.6100941521497584,-1.2798243098772935],[0.6453598233368135,-1.2445784178460475]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_31","position":[0.03982215444590531,-1.785778524044769,0.71338606911949],"aabb_xy":[[-0.01015091108661015,-1.8357785238573023],[0.08979521997842078,-1.7357785242322366]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_32","position":[0.05995570291578223,-1.268640287169947,0.71338606911949],"aabb_xy":[[0.009955704269861032,-1.318559830829409],[0.10995570156170342,-1.2187207435104843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6585361360542185,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5791.png","name":"5791"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5791.png","name":"5791"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4573.png","name":"4573"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4713.png","name":"4713"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7437.png","name":"7437"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9730.png","name":"9730"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":743.3054154224003,"rotation_z_degrees":0.21422431426500577,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01606793132639905,-0.011500158996741696,0.003141457142695918]},{"name":"camera_2","offset_m":[0.013608543487696221,-0.01408561255286337,0.0071310509508706495]},{"name":"camera_3","offset_m":[-0.016172054883840048,0.001894267723601014,0.007185228457650444]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001377348663200753,-0.0004353943674433162,0.0011174850497434573],"end_effector_yaw_offset_degrees":0.42885756529361374},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009663499615736979,0.001723667889505117,-0.00010033814277878418],"end_effector_yaw_offset_degrees":0.8800717046212936},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011091368153407508,-0.0017904977978053696,0.00113629496027208],"end_effector_yaw_offset_degrees":0.18690493699486455}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028585951183534115,-0.002286344064538838],"position_m":[0.1997585951183534,0.30541365593546116,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004384541953370638,-0.001696067876002765],"position_m":[0.24336154580466293,-0.33589606787600274,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00048304572706436323,0.0012498515972052728],"position_m":[0.2905169542729356,-0.07575014840279473,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038975745477291797,-0.004597326934546926],"position_m":[0.33449757454772916,0.07630267306545307,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0c82f1b11758a302e37bb57b5df9fddc9a64774718e083a12a185c98406dd4b3","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0095.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5791/tex_ceiling_textures_9730/tex_floor_textures_7437/tex_table_textures_4573/tex_wall_textures_4713","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5143555155236735518,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5143555155236735518,"visual_seed":5143555155236735518,"scene_id":"lab_003","finished_at":"2026-09-04T11:43:02"}
+{"episode_id":"ep_000096","started_at":"2026-09-04T11:43:05","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[-0.2671040502515654,1.0329298661063628,0.71338606911949],"aabb_xy":[[-0.2849731580060209,1.0190969581291518],[-0.24923494249710992,1.0467627740835739]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[-0.48293941600220736,0.34176832927286727,0.71338606911949],"aabb_xy":[[-0.5469394183450089,0.29682747802873477],[-0.41893941365940585,0.38670918051699976]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.32149675358425783,-1.3065102314932946,0.71338606911949],"aabb_xy":[[-0.37149675524575254,-1.3565086737489973],[-0.271496751922763,-1.2565117892375919]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.2524328972662121,-1.9825856954504961,0.71338606911949],"aabb_xy":[[-0.31006336615348284,-2.0425856943772063],[-0.19480242837894113,-1.9225856965237853]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.2273330888769664,0.07672920534642769,0.71338606911949],"aabb_xy":[[-0.23228910906184763,0.054229205144306084],[-0.22237706869208523,0.09922920554854933]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.09210364894375489,-1.521027218232004,0.71338606911949],"aabb_xy":[[-0.1081655764022725,-1.6060272200445955],[-0.07604172148523722,-1.436027216419412]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[-0.3629377713864041,0.6756348487381616,0.71338606911949],"aabb_xy":[[-0.4429377746504171,0.6620748164292483],[-0.28293776812239085,0.6891948810470749]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.5630928229129915,0.5645413421643055,0.71338606911949],"aabb_xy":[[0.5411841407736404,0.5426406753442148],[0.5850015050523425,0.5864420089843962]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[0.22949229183919384,-2.487992621190129,0.71338606911949],"aabb_xy":[[0.18421367695804458,-2.551992620538312],[0.2747709067203431,-2.4239926218419448]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.48861938276618333,-1.726932702965285,0.71338606911949],"aabb_xy":[[-0.5526193848159153,-1.7670271860545932],[-0.4246193807164513,-1.6868382198759773]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[0.189746546980049,-1.5595938237710576,0.71338606911949],"aabb_xy":[[0.139751536020597,-1.6095938228066498],[0.23974155793950108,-1.5095938247354663]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[-0.5750693158392935,0.07669023477144377,0.71338606911949],"aabb_xy":[[-0.5975693158494418,0.06259401513184049],[-0.5525693158291453,0.09078645441104705]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.3356291412697434,-1.4307820851183635,0.71338606911949],"aabb_xy":[[0.29461119788337253,-1.4807820857493208],[0.3766470846561143,-1.3807820844874061]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.3031664646510443,-0.39969295834516405,0.71338606911949],"aabb_xy":[[-0.3105789201924328,-0.405544168766792],[-0.2957540091096558,-0.3938417479235361]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.1853717859653934,0.581594638020059,0.71338606911949],"aabb_xy":[[-0.222222333902381,0.5440946371970252],[-0.14852123802840578,0.6190946388430927]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.22176294775079997,1.2005767139342094,0.71338606911949],"aabb_xy":[[-0.22880325768433696,1.1205767145345382],[-0.21472263781726297,1.280576713333881]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[0.45476497413257944,0.6219188668554931,0.71338606911949],"aabb_xy":[[0.41346043106884345,0.5579188672873759],[0.4960695171963154,0.6859188664236101]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.3428619219903266,-2.5014760250840435,0.71338606911949],"aabb_xy":[[-0.3674081376130773,-2.5317249216330806],[-0.31831570636757583,-2.4712271285350065]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_18","position":[0.4947313184058968,-2.012407414520606,0.71338606911949],"aabb_xy":[[0.4841638387477978,-2.0229524446336145],[0.5052987980639958,-2.0018623844075973]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.579242269316687,-0.9829943700474093,0.71338606911949],"aabb_xy":[[0.4992422678865597,-1.0625115250600188],[0.6592422707468141,-0.9034772150347998]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.2062089161359525,-2.312998978642885,0.71338606911949],"aabb_xy":[[0.18870891700158535,-2.3228786056804727],[0.2237089152703197,-2.303119351605297]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[0.26146906161836125,1.3598790736066855,0.71338606911949],"aabb_xy":[[0.19646906306128842,1.3301265401928026],[0.3264690601754341,1.3896316070205679]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6629239368308049,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3014.png","name":"3014"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3014.png","name":"3014"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6926.png","name":"6926"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4567.png","name":"4567"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/868.png","name":"868"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5963.png","name":"5963"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":517.4131678491035,"rotation_z_degrees":71.49439089209284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0077872892173497955,-0.007139936300946946,-0.0014226182500767272]},{"name":"camera_2","offset_m":[-0.0040474213736948275,0.009616785895993893,-0.005545177324856461]},{"name":"camera_3","offset_m":[-0.008975878743278915,-0.010324699510492445,-0.010193226467369323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004902418216179791,0.0012338592830851772,0.0016880249437502856],"end_effector_yaw_offset_degrees":-0.7760927448243404},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006981233282360019,-0.0015321291703162437,-0.001107755984001813],"end_effector_yaw_offset_degrees":-0.4909508817680408},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000795988721887467,-0.0005593919889700211,-0.0018364964655660971],"end_effector_yaw_offset_degrees":-0.6679350300113467}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004851299554050222,-0.004596493706734158],"position_m":[0.19204870044594977,0.3031035062932658,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046403518815059325,-0.0017243092069776133],"position_m":[0.24844035188150593,-0.33592430920697763,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003165131059560492,-4.543219443420808e-05],"position_m":[0.28783486894043947,-0.0770454321944342,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004693821315156015,-0.0025753758337811673],"position_m":[0.325906178684844,0.07832462416621883,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ae65c8c8033b01d36cced04465207882c7637e22b8a7779885b5b8d7222cc3a","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3014/tex_ceiling_textures_5963/tex_floor_textures_868/tex_table_textures_6926/tex_wall_textures_4567","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1642195796979176650,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1642195796979176650,"visual_seed":1642195796979176650,"scene_id":"lab_003","finished_at":"2026-09-04T11:46:10"}
+{"episode_id":"ep_000097","started_at":"2026-09-04T11:46:12","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[-0.34283642506567913,1.7051689071767675,0.71338606911949],"aabb_xy":[[-0.40783642509998186,1.65846823049644],[-0.2778364250313764,1.7518695838570946]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[0.5442446890532981,0.18617929987179638,0.71338606911949],"aabb_xy":[[0.5204084714126931,0.09617929906330991],[0.5680809066939032,0.27617930068028285]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.3348503814535745,0.9339204135520305,0.71338606911949],"aabb_xy":[[-0.3998503824107016,0.8819722016183248],[-0.26985038049644716,0.985868625485736]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[-0.533475095781633,1.7606856377236233,0.71338606911949],"aabb_xy":[[-0.555939865753038,1.7381856368447628],[-0.5110103258102278,1.7831856386024838]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.021677705525249613,-1.872614615867694,0.71338606911949],"aabb_xy":[[-0.07167770680908957,-1.9225934702583158],[0.02832229575859035,-1.8226357614770716]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.10070006410963372,-0.7125209069795162,0.71338606911949],"aabb_xy":[[-0.15067748097488728,-0.7625209084687646],[-0.05072264724438013,-0.6625209054902675]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.3453074405672206,-0.26556271737938486,0.71338606911949],"aabb_xy":[[-0.3903074420334496,-0.3105625742408656],[-0.30030743910099184,-0.22056286051790425]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[-0.5185332195185689,-1.9213860583774673,0.71338606911949],"aabb_xy":[[-0.5535332186485246,-1.9271312794531317],[-0.48353322038861324,-1.9156408373018035]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[-0.5166668905080006,-1.095527749408574,0.71338606911949],"aabb_xy":[[-0.562751981762732,-1.159527746661129],[-0.4705817992532691,-1.0315277521560187]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[-0.13981983993951486,0.5425125506897501,0.71338606911949],"aabb_xy":[[-0.1522871980492505,0.5300472260564266],[-0.1273524818297792,0.5549778753230736]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[0.1787366711140781,-1.0201979029468182,0.71338606911949],"aabb_xy":[[0.14019097828887708,-1.0587436740030072],[0.21728236393927916,-0.9816521318906298]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.41537809606319054,1.8153683298077117,0.71338606911949],"aabb_xy":[[0.39836799877313983,1.7992338413094375],[0.43238819335324113,1.8315028183059854]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.5816476766505825,-1.047840629221206,0.71338606911949],"aabb_xy":[[0.5216476760545663,-1.1026531017664294],[0.6416476772465987,-0.9930281566759824]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.06569844723507512,-2.3666765839029424,0.71338606911949],"aabb_xy":[[0.005698447388508332,-2.423495206095981],[0.1256984470816419,-2.3098579617099038]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[0.40440623022961497,-0.9519033487896265,0.71338606911949],"aabb_xy":[[0.37096605503359537,-0.9853469746205564],[0.4378464054256346,-0.9184597229586963]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[-0.09442122205788439,0.7641749732757992,0.71338606911949],"aabb_xy":[[-0.14442122241845046,0.7141949860661961],[-0.04442122169731833,0.814154960485402]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[0.10385615531941295,-0.8244161291690493,0.71338606911949],"aabb_xy":[[0.023856155045805984,-0.897365676994766],[0.18385615559301993,-0.7514665813433326]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.46775136677718554,-1.8642419391168747,0.71338606911949],"aabb_xy":[[0.4177684165897062,-1.9142419387594347],[0.5177343169646649,-1.814241939474314]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[0.2619381693632331,0.6326594328025759,0.71338606911949],"aabb_xy":[[0.25109769113671815,0.615473151511927],[0.27277864758974796,0.6498457140932247]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.17309877566384402,-1.0547599549880522,0.71338606911949],"aabb_xy":[[-0.21043005218908667,-1.0894130097829045],[-0.13576749913860142,-1.0201069001932]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[0.4108133760486763,1.7003164147871268,0.71338606911949],"aabb_xy":[[0.3764970988740583,1.650316414813949],[0.4451296532232942,1.7503164147603045]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_21","position":[-0.22439463970019358,0.09843236932495403,0.71338606911949],"aabb_xy":[[-0.23238812949547563,0.09043423738447838],[-0.21640114990491158,0.10643050126542972]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[0.014875874716916204,-2.1148445694520577,0.71338606911949],"aabb_xy":[[-0.03510293379339968,-2.1648445694577765],[0.06485468322723209,-2.064844569446339]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[0.635526285443762,0.7432797817749286,0.71338606911949],"aabb_xy":[[0.6295597465030263,0.7373186371155646],[0.6414928243844977,0.7492409264342926]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[0.47559394062592575,-0.2895128549944501,0.71338606911949],"aabb_xy":[[0.4564816332679469,-0.3086476338716921],[0.4947062479839046,-0.27037807611720804]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[-0.1608229127947115,-2.38912235086818,0.71338606911949],"aabb_xy":[[-0.17670740606003668,-2.4034752911670036],[-0.14493841952938638,-2.374769410569356]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[-0.17870954768604175,0.9758043460836796,0.71338606911949],"aabb_xy":[[-0.2287045586454938,0.9258043470480881],[-0.12871453672658972,1.0258043451192715]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_27","position":[-0.3413219912460662,-1.5466709381382264,0.71338606911949],"aabb_xy":[[-0.35687776065633153,-1.5622213713826336],[-0.325766221835801,-1.5311205048938192]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_28","position":[0.09590876210553989,0.7046448213756489,0.71338606911949],"aabb_xy":[[0.05460421904180389,0.6406448218075318],[0.13721330516927588,0.768644820943766]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_29","position":[-0.4059510346773693,0.11987974474496799,0.71338606911949],"aabb_xy":[[-0.4146489969680846,0.10775477043749326],[-0.397253072386654,0.1320047190524427]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_30","position":[0.2247751839424098,-1.1655157633737718,0.71338606911949],"aabb_xy":[[0.20185947105735996,-1.1884200605101953],[0.24769089682745976,-1.1426114662373483]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[-0.21178437310328124,-1.4465452988689167,0.71338606911949],"aabb_xy":[[-0.275784373363752,-1.4915540982218445],[-0.1477843728428104,-1.4015364995159885]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_32","position":[0.259265718770067,-2.067680164649104,0.71338606911949],"aabb_xy":[[0.2233522143450773,-2.1035936728658586],[0.2951792231950567,-2.031766656432349]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_33","position":[0.3180871195310806,1.1376305066053098,0.71338606911949],"aabb_xy":[[0.23809329595252238,1.0576305040124683],[0.3980809431096388,1.2176305091981514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6620013639104144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4564.png","name":"4564"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4564.png","name":"4564"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7037.png","name":"7037"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4748.png","name":"4748"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1503.png","name":"1503"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6666.png","name":"6666"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":569.826585532451,"rotation_z_degrees":84.33752880697152,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0057094098527767385,-0.018930599586915196,-0.005171453539798589]},{"name":"camera_2","offset_m":[-0.009561108947696325,-0.009578075249763675,0.007836935759006302]},{"name":"camera_3","offset_m":[-0.012236884338554917,0.0072591572142930265,3.459100431586412e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008159688499990887,-0.00033461450150348783,0.0011898062336250202],"end_effector_yaw_offset_degrees":0.09436451800846579},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005199377798468952,-0.00117332815774467,-0.0006936905134598752],"end_effector_yaw_offset_degrees":0.23327539147647647},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013179596065310707,-0.0013463202193623256,0.0010920785755280204],"end_effector_yaw_offset_degrees":-0.22957120852063873}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0041725312821488765,-0.00038513318239730664],"position_m":[0.20107253128214886,0.30731486681760267,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004905789197966192,0.0005544259855050013],"position_m":[0.24870578919796618,-0.333645574014495,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0023745883194288553,0.0017498183223245527],"position_m":[0.2886254116805711,-0.07525018167767544,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002199223121850576,-0.0024227455818272613],"position_m":[0.33279922312185056,0.07847725441817274,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d01b540dd332d366f67935647cd49d36bdf122a83e2c33525c9762866053fd7d","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0097.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4564/tex_ceiling_textures_6666/tex_floor_textures_1503/tex_table_textures_7037/tex_wall_textures_4748","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":880175719588863168,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":880175719588863168,"visual_seed":880175719588863168,"scene_id":"lab_003","finished_at":"2026-09-04T11:49:07"}
+{"episode_id":"ep_000098","started_at":"2026-09-04T11:49:11","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[0.3398726187531369,1.5908688483035296,0.71338606911949],"aabb_xy":[[0.2748726177526364,1.5400824831488544],[0.4048726197536374,1.6416552134582043]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[0.5881636081240327,-0.836869861472824,0.71338606911949],"aabb_xy":[[0.5381636064625378,-0.8868683037285267],[0.6381636097855273,-0.7868714192171212]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[0.09767522035273968,-0.7237103226608408,0.71338606911949],"aabb_xy":[[0.042679742532080275,-0.7787103240947477],[0.15267069817339907,-0.6687103212269339]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[-0.29677739872255415,-0.10270536203744474,0.71338606911949],"aabb_xy":[[-0.3467722316504958,-0.15270536093268827],[-0.2467825657946126,-0.052705363142201186]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.4977075428904311,0.9488172956428476,0.71338606911949],"aabb_xy":[[-0.5108587888617204,0.9238172958861611],[-0.48455629691914176,0.9738172953995342]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[-0.16568507584427827,-1.9770115700708266,0.71338606911949],"aabb_xy":[[-0.20218089647155701,-2.013495512497584],[-0.12918925521699953,-1.940527627644069]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.5987474346099599,-2.443284708333172,0.71338606911949],"aabb_xy":[[-0.6487474349705259,-2.4932646955427744],[-0.5487474342493938,-2.3933047211235685]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[0.07963640281686057,-1.7716323258397702,0.71338606911949],"aabb_xy":[[0.029538938835786954,-1.8356323263495822],[0.1297338667979342,-1.7076323253299586]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.22759864486017217,-0.5810986045615358,0.71338606911949],"aabb_xy":[[-0.2453921517950886,-0.5988983501573334],[-0.20980513792525574,-0.5632988589657381]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[0.36101144248427763,1.4009740586599069,0.71338606911949],"aabb_xy":[[0.2970114460887045,1.337010770241173],[0.42501143887985066,1.4649373470786402]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.607768777455514,-0.615968446602482,0.71338606911949],"aabb_xy":[[0.5437730800604175,-0.6799684449031905],[0.6717644748506106,-0.5519684483017732]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[0.574020895071663,-0.3348517981260648,0.71338606911949],"aabb_xy":[[0.5659072403982859,-0.3429576145800939],[0.5821345497450401,-0.3267459816720357]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[0.36389675032743307,-2.38373362936812,0.71338606911949],"aabb_xy":[[0.3506658047927517,-2.396961048390119],[0.3771276958621143,-2.3705062103461203]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[-0.4590558393239953,1.3877265983600373,0.71338606911949],"aabb_xy":[[-0.4631339972310451,1.383645618111774],[-0.4549776814169456,1.3918075786083006]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.4493632871387746,0.6720073141833836,0.71338606911949],"aabb_xy":[[-0.4836601981565152,0.6377104279734421],[-0.4150663761210339,0.7063042003933248]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.05749763274969033,-2.3657216298413877,0.71338606911949],"aabb_xy":[[-0.11249763237143617,-2.4207053226288604],[-0.0024976331279444805,-2.310737937053915]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[0.30879249490085825,-1.6380482970581909,0.71338606911949],"aabb_xy":[[0.25881920089759775,-1.688048297612738],[0.35876578890411864,-1.5880482965036433]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[0.6336971017272794,-1.9218779134334976,0.71338606911949],"aabb_xy":[[0.6145847943693006,-1.9410126923107394],[0.6528094090852583,-1.9027431345562553]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.0634120974027178,1.5757905584312986,0.71338606911949],"aabb_xy":[[0.045912097143381174,1.5616990162425264],[0.08091209766205443,1.5898821006200716]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.6070430784518809,1.034748789407045,0.71338606911949],"aabb_xy":[[-0.6415054258500225,1.000254907009222],[-0.5725807310537389,1.0692426718048673]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[-0.13274551561040593,0.53299347432382,0.71338606911949],"aabb_xy":[[-0.19774551564470869,0.48629279764349276],[-0.06774551557610323,0.5796941510041473]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.02834553567425191,0.41408571761033564,0.71338606911949],"aabb_xy":[[-0.03465763521059034,0.40831877835711683],[-0.022033436137913476,0.41985265686355444]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[0.012633445051633552,1.0926676472407588,0.71338606911949],"aabb_xy":[[-0.04736655554438263,1.0378551746955353],[0.07263344564764973,1.1474801197859823]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[0.4369115936972474,-1.394318313174675,0.71338606911949],"aabb_xy":[[0.3870288968195513,-1.4443183124209498],[0.4867942905749437,-1.3443183139284003]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[-0.345257672881855,-2.2352984473880544,0.71338606911949],"aabb_xy":[[-0.34896093421099383,-2.239000465696772],[-0.34155441155271615,-2.2315964290793366]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[0.45410025944760557,1.8014352334673656,0.71338606911949],"aabb_xy":[[0.42413270253777985,1.77143523316948],[0.4840678163574312,1.8314352337652515]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_26","position":[0.13247031260938658,-1.5953637679529713,0.71338606911949],"aabb_xy":[[0.09497031403376578,-1.608100063616529],[0.16997031118500738,-1.5826274722894131]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[0.6184829501919422,-0.09913200803573075,0.71338606911949],"aabb_xy":[[0.5934829509199799,-0.11547737163189309],[0.6434829494639045,-0.0827866444395684]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_28","position":[-0.6144114545730286,1.651053114918446,0.71338606911949],"aabb_xy":[[-0.6744114554338413,1.5996266849119591],[-0.5544114537122157,1.702479544924932]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_29","position":[0.43802103125477965,-1.158848856906185,0.71338606911949],"aabb_xy":[[0.4298064861390956,-1.1675254472038261],[0.44623557637046357,-1.1501722666085434]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[0.03204725066504088,-1.5351472426803872,0.71338606911949],"aabb_xy":[[0.015985323206523235,-1.620147244492979],[0.04810917812355852,-1.4501472408677953]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_31","position":[-0.45442702419212033,-0.10815127711461159,0.71338606911949],"aabb_xy":[[-0.49192702498411567,-0.11451911807280168],[-0.4169270234001248,-0.10178343615642149]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_32","position":[-0.3443432319142263,0.517337519365964,0.71338606911949],"aabb_xy":[[-0.3938236531281851,0.4533375214531121],[-0.29486281070026754,0.5813375172788158]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_33","position":[0.06712280418354555,0.8392570523251508,0.71338606911949],"aabb_xy":[[0.053676277549502216,0.8257872006720596],[0.08056933081758888,0.852726903978242]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6598252715197711,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3251.png","name":"3251"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3251.png","name":"3251"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5791.png","name":"5791"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6851.png","name":"6851"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/488.png","name":"488"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7778.png","name":"7778"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":556.8682698580059,"rotation_z_degrees":344.2649899515968,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00881052745728255,-0.005510700103456783,-0.01216560240309848]},{"name":"camera_2","offset_m":[-0.014868334188106479,0.01668320687202705,0.014935110939945855]},{"name":"camera_3","offset_m":[0.013084405962403612,-0.008489298642446026,0.008512527849982146]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008654524962168186,-0.0005994909633943153,0.0017985189635057772],"end_effector_yaw_offset_degrees":0.42575496477332564},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[5.8390329129151194e-06,0.0004800203241413529,0.00010293008566522165],"end_effector_yaw_offset_degrees":-0.25873473328417207},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010928091830638524,0.0019711827005805165,0.001972894148862838],"end_effector_yaw_offset_degrees":-0.9071726602137828}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004683486308245639,0.0021839210178905086],"position_m":[0.19221651369175435,0.3098839210178905,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003853117791032065,0.0030721458390643034],"position_m":[0.24765311779103205,-0.3311278541609357,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00468971741893354,-0.0042073781163113845],"position_m":[0.28631028258106644,-0.08120737811631139,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036943282862901055,-0.0014828357157258432],"position_m":[0.33429432828629013,0.07941716428427416,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"559f4a2dff62fa0b4d5bd16e68035cf0fed7450ae0396715804620962387eeb8","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3251/tex_ceiling_textures_7778/tex_floor_textures_488/tex_table_textures_5791/tex_wall_textures_6851","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3346887813109566738,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3346887813109566738,"visual_seed":3346887813109566738,"scene_id":"lab_003","finished_at":"2026-09-04T11:52:19"}
+{"episode_id":"ep_000099","started_at":"2026-09-04T11:52:22","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[-0.5869940353951234,-0.964740010201806,0.71338606911949],"aabb_xy":[[-0.6368767322728197,-1.0147400094480807],[-0.5371113385174273,-0.9147400109555314]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.4749979994376794,-2.190674432200996,0.71338606911949],"aabb_xy":[[0.4109979972172723,-2.2350475163262837],[0.5389980016580864,-2.146301348075707]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[0.1356931836627735,1.7529095067836846,0.71338606911949],"aabb_xy":[[0.0856983507348319,1.7029095078884409],[0.1856880165907151,1.802909505678928]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[-0.19120354018868957,0.41842947324470003,0.71338606911949],"aabb_xy":[[-0.20870353932305674,0.40854984620711227],[-0.1737035410543224,0.4283091002822879]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[-0.2797664616881942,0.5623658713625947,0.71338606911949],"aabb_xy":[[-0.2973131566043131,0.5248658697983435],[-0.26221976677207526,0.599865872926846]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.4778543010170593,-1.559833131878063,0.71338606911949],"aabb_xy":[[-0.5428543019741865,-1.6117813438117685],[-0.4128543000599321,-1.5078849199443574]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.2891935778164902,0.0793947864896265,0.71338606911949],"aabb_xy":[[-0.29382869296872355,0.07552745141247784],[-0.2845584626642567,0.08326212156677514]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.6136457899405385,-0.4638976320429675,0.71338606911949],"aabb_xy":[[-0.6479620671151565,-0.5138976320161452],[-0.5793295127659206,-0.41389763206978974]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[-0.27010280753609217,0.27678183948500035,0.71338606911949],"aabb_xy":[[-0.2740166807315147,0.2680328240784436],[-0.26618893434066965,0.2855308548915571]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[0.5187872766519139,-2.407111354420676,0.71338606911949],"aabb_xy":[[0.4963225066805088,-2.4296113552995364],[0.541252046623319,-2.3846113535418154]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.3799490554606069,-0.26487506917623227,0.71338606911949],"aabb_xy":[[-0.4028647683456569,-0.2877793663126558],[-0.357033342575557,-0.24197077203980882]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[-0.16980358834549247,-2.049720394315617,0.71338606911949],"aabb_xy":[[-0.18723430342449893,-2.066992508979467],[-0.1523728732664859,-2.0324482796517658]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.5777755198089347,0.5356302526538461,0.71338606911949],"aabb_xy":[[0.540275518293303,0.5244034796377011],[0.6152755213245664,0.5468570256699912]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.6059966464790723,-0.8403938771182362,0.71338606911949],"aabb_xy":[[-0.6248810302475826,-0.859279801898589],[-0.5871122627105622,-0.8215079523378834]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[0.35126931739423717,-0.9963685435516534,0.71338606911949],"aabb_xy":[[0.28126931475765077,-1.0164734085475189],[0.42126932003082346,-0.9762636785557878]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.46187261167918714,1.6149796578850908,0.71338606911949],"aabb_xy":[[0.3918726082876251,1.5796638841816597],[0.531872615070749,1.6502954315885214]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[0.3279966438473285,0.5897575626944325,0.71338606911949],"aabb_xy":[[0.2779966428967956,0.558208415690911],[0.3779966447978612,0.6213067096979538]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[0.3703822786939803,-1.8160083866718275,0.71338606911949],"aabb_xy":[[0.2903822816797324,-1.8361429383452388],[0.45038227570822836,-1.7958738349984162]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[0.04582975071803075,-2.0183408646205,0.71338606911949],"aabb_xy":[[-0.018165946677065843,-2.0823408629212086],[0.10982544811312733,-1.9543408663197912]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[-0.20263906492027506,0.6039446415709957,0.71338606911949],"aabb_xy":[[-0.2160855915543184,0.5904747899179045],[-0.18919253828623173,0.6174144932240869]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[0.04212447729315505,-1.4760328852198605,0.71338606911949],"aabb_xy":[[-0.03787551986642023,-1.4875804861776776],[0.12212447445273034,-1.4644852842620435]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_21","position":[-0.35080394121284547,-0.9466559278758164,0.71338606911949],"aabb_xy":[[-0.3819508600564286,-1.0166559265626236],[-0.31965702236926236,-0.8766559291890091]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.44700289168753937,-0.3712115199975323,0.71338606911949],"aabb_xy":[[-0.4820028916640352,-0.38067613604514894],[-0.41200289171104354,-0.3617469039499157]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[0.3013877294077356,-0.591495589537109,0.71338606911949],"aabb_xy":[[0.29488609289973106,-0.6012634115634188],[0.3078893659157403,-0.5817277675107992]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6539041462716327,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6701.png","name":"6701"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6701.png","name":"6701"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6214.png","name":"6214"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1280.png","name":"1280"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8131.png","name":"8131"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1367.png","name":"1367"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":793.3755884551622,"rotation_z_degrees":204.31930237394124,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0052116354170009364,-0.015727774969885533,0.007621288420263522]},{"name":"camera_2","offset_m":[0.00023976538958451338,-0.007662309078143741,-0.015315066292120157]},{"name":"camera_3","offset_m":[0.013082583979911851,-0.01989878321631111,-0.009741002168268524]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-5.918901953222682e-05,0.001396972585477297,0.001368555668093672],"end_effector_yaw_offset_degrees":-0.7770305500201196},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018793202560510927,0.0003546203729092928,-0.0017455358710527094],"end_effector_yaw_offset_degrees":0.5881105174012495},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008619106468056614,0.0014115978980201085,0.00013532946930587368],"end_effector_yaw_offset_degrees":-0.3619697251410834}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013383302197500979,-0.0023654783711167283],"position_m":[0.1982383302197501,0.30533452162888325,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028940243718858583,0.003257703420325068],"position_m":[0.24090597562811414,-0.33094229657967494,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003743191658953173,-0.0018045351245354222],"position_m":[0.28725680834104683,-0.07880453512453542,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004048230866574497,-0.0008535682907420397],"position_m":[0.3346482308665745,0.08004643170925796,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0608c53526e8ecfbb8084b50337ecbb70a9eb8673475cf82d9af24c6bc168fa8","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/dataset/episode_0099.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6701/tex_ceiling_textures_1367/tex_floor_textures_8131/tex_table_textures_6214/tex_wall_textures_1280","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3772340226539518704,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3772340226539518704,"visual_seed":3772340226539518704,"scene_id":"lab_003","finished_at":"2026-09-04T11:55:16"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c8f0893980f1f73c3360955e220d883dc6ff67da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/resolved_config.yaml
@@ -0,0 +1,233 @@
+name: lab3_heat_2beaker_s03_plr_htd_00007
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Place beaker b on the heater platform.
+    Press the heater button to start heating.
+  layout_id: layout_00007
+  reproducibility:
+    enabled: true
+    layout_id: layout_00007
+    action_seed: 6136293983304232058
+    step_seeds:
+    - 6016277329034288049
+    - 1223355012610134023
+    - 916088432641120656
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.291
+      - 0.291
+      'y':
+      - -0.077
+      - -0.077
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1969
+      - 0.1969
+      'y':
+      - 0.3077
+      - 0.3077
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3306
+      - 0.3306
+      'y':
+      - 0.0809
+      - 0.0809
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2438
+      - 0.2438
+      'y':
+      - -0.3342
+      - -0.3342
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b285b37cc19160b069c18a113d510dbb7d63311c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_0_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2275223919736245,
+              0.3083669583714641,
+              1.1584230053480375
+            ],
+            "current_z": 1.1584230053480375,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.30183643833482743,
+            "gripper_z": 1.1514177814559403,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22305260552758494,
+              0.30359276145272424,
+              1.1514177814559403
+            ],
+            "object_minus_gripper": [
+              0.00446978644603957,
+              0.00477419691873987,
+              0.007005223892097234
+            ],
+            "object_to_gripper_xy": 0.006540026536039767,
+            "object_to_gripper_z": 0.007005223892097234,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2275223919736245,
+              0.2844576571086888,
+              1.1584230053480375
+            ],
+            "finger_b": [
+              0.21698117909906164,
+              0.3083669583714641,
+              1.1584230053480375
+            ],
+            "finger_midpoint": [
+              0.22225178553634306,
+              0.29641230774007643,
+              1.1584230053480375
+            ],
+            "object_minus_finger_midpoint": [
+              0.005270606437281444,
+              0.011954650631387675,
+              0.0
+            ],
+            "finger_gap": 0.026129903477452764,
+            "fingertip_max_gap": 0.09067327584371138,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013064951738726413,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1584230053480375,
+            "object_top_z": 1.2038153701708416,
+            "finger_top_clearance": 0.045392364822804065,
+            "fingertip_min_top_clearance": 0.013617709446841219,
+            "object_projection_between_fingers": 0.8372557862007118,
+            "object_to_finger_line_xy": 0.009645387114056724,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783663792185569,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.638754144496559,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3016316654171428,
+              -0.3292822781737551,
+              0.8470194493221703
+            ],
+            "target_position": [
+              0.29388398676643124,
+              -0.33034373987502835,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007820052775906429,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865956139654034,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194493221703,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556537396925671,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15455497559339992,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007602035999298096,
+            "max_z_decrease": 0.007602035999298096,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035210390709873154,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007602035999298096,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021068878757370957,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007602035999298096,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007602047274498978,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14958390593528748,
+              -0.3866052031517029,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14958390593528748,
+              -0.3866052031517029,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14888834504168622,
+              -0.38459907333399357,
+              0.8079756852319099
+            ],
+            "closest_button": [
+              0.14957503974437714,
+              -0.38661000132560736,
+              0.7728294730186462
+            ],
+            "closest_ee_minus_button": [
+              -0.0006866947026909209,
+              0.0020109279916137868,
+              0.03514621221326364
+            ],
+            "button_min_z_position": [
+              0.14957091212272644,
+              -0.3866068124771118,
+              0.7692068219184875
+            ],
+            "min_active_finger_to_button": 0.14588530855983436,
+            "closest_active_finger": [
+              0.020567260682582855,
+              -0.4455483555793762,
+              0.8107215166091919
+            ],
+            "closest_active_finger_button": [
+              0.14958468079566956,
+              -0.3866061270236969,
+              0.7766210436820984
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1290174201130867,
+              -0.05894222855567932,
+              0.034100472927093506
+            ],
+            "min_contact_pad_to_button": 0.021068878757370957,
+            "closest_contact_pad": [
+              0.14957091212272644,
+              -0.3866068124771118,
+              0.7902757006758585
+            ],
+            "closest_contact_pad_button": [
+              0.14957091212272644,
+              -0.3866068124771118,
+              0.7692068219184875
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021068878757370957
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f651ec5a915dcd37fd5dd377783ea6df2108590915f31bb816f84dabd826cdfc",
+    "visual_seed": 2336116202807935572,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab71f66ffeb420c4bf66a4474ea6a18410a7d2d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_10_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2197758712856567,
+              0.3000821068541604,
+              1.1564316683445615
+            ],
+            "current_z": 1.1564316683445615,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.2998451609359958,
+            "gripper_z": 1.1494829586538653,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21556104769408196,
+              0.2953778911427049,
+              1.1494829586538653
+            ],
+            "object_minus_gripper": [
+              0.00421482359157474,
+              0.004704215711455517,
+              0.006948709690696164
+            ],
+            "object_to_gripper_xy": 0.006316200073461886,
+            "object_to_gripper_z": 0.006948709690696164,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2197758712856567,
+              0.276427603932893,
+              1.1564316683445615
+            ],
+            "finger_b": [
+              0.20923240245106,
+              0.3000821068541604,
+              1.1564316683445615
+            ],
+            "finger_midpoint": [
+              0.21450413686835834,
+              0.2882548553935267,
+              1.1564316683445615
+            ],
+            "object_minus_finger_midpoint": [
+              0.005271734417298363,
+              0.011827251460633736,
+              0.0
+            ],
+            "finger_gap": 0.025897881062325556,
+            "fingertip_max_gap": 0.09046135852838924,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012948940531162809,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1564316683445615,
+            "object_top_z": 1.2018441903731434,
+            "finger_top_clearance": 0.045412522028581925,
+            "fingertip_min_top_clearance": 0.013623756608574577,
+            "object_projection_between_fingers": 0.8342557108925983,
+            "object_to_finger_line_xy": 0.009630151352848325,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773067926419462,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5992709850870291,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29992024103720444,
+              -0.3309002521537588,
+              0.847019698742537
+            ],
+            "target_position": [
+              0.292667699906146,
+              -0.33169756087513763,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007296235608509448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18623723494082614,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019698742537,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754438336879736,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605921179129687,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15441874252287982,
+            "release_required_pad_clearance": 0.05302960589564844,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0900091826799838,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007624030113220215,
+            "max_z_decrease": 0.007624030113220215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519286918825921,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007624030113220215,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02111187998261364,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007624030113220215,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007624049834603702,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14836762845516202,
+              -0.38795903325080866,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14836762845516202,
+              -0.38795903325080866,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15022138310613606,
+              -0.38789366470368586,
+              0.8079152584612562
+            ],
+            "closest_button": [
+              0.148355633020401,
+              -0.38796582818031305,
+              0.772771954536438
+            ],
+            "closest_ee_minus_button": [
+              0.0018657500857350573,
+              7.216347662719613e-05,
+              0.03514330392481824
+            ],
+            "button_min_z_position": [
+              0.14835040271282193,
+              -0.38796103000640864,
+              0.7691848278045654
+            ],
+            "min_active_finger_to_button": 0.14435329442459416,
+            "closest_active_finger": [
+              0.009278222918510437,
+              -0.36996185779571533,
+              0.8107399344444275
+            ],
+            "closest_active_finger_button": [
+              0.14836812019348145,
+              -0.38796168565750117,
+              0.776565670967102
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139089897274971,
+              0.017999827861785833,
+              0.03417426347732544
+            ],
+            "min_contact_pad_to_button": 0.02111187998261364,
+            "closest_contact_pad": [
+              0.14835040271282193,
+              -0.389224823655183,
+              0.7902588474024874
+            ],
+            "closest_contact_pad_button": [
+              0.14835040271282193,
+              -0.38796103000640864,
+              0.7691848278045654
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012637936487743806,
+              0.02107401959792199
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3bf6f3e66864c61a66011af27487acc3fd94a1da0075062cbe2bdd2d0f3822be",
+    "visual_seed": 3455751954721473348,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95ae2a98ed3425c3332e98f5027c45c43dc9914a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_11_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2253517804100389,
+              0.30045428757790893,
+              1.159174687228628
+            ],
+            "current_z": 1.159174687228628,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.3025881202154175,
+            "gripper_z": 1.1523860969618782,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2206861299396787,
+              0.29550571529581837,
+              1.1523860969618782
+            ],
+            "object_minus_gripper": [
+              0.004665650470360189,
+              0.0049485722820905576,
+              0.006788590266749717
+            ],
+            "object_to_gripper_xy": 0.006801225032495778,
+            "object_to_gripper_z": 0.006788590266749717,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2253517804100389,
+              0.27669504496393876,
+              1.159174687228628
+            ],
+            "finger_b": [
+              0.21414742262527497,
+              0.30045428757790893,
+              1.159174687228628
+            ],
+            "finger_midpoint": [
+              0.21974960151765693,
+              0.2885746662709239,
+              1.159174687228628
+            ],
+            "object_minus_finger_midpoint": [
+              0.005602178892381959,
+              0.011879621306985055,
+              0.0
+            ],
+            "finger_gap": 0.026268598039455696,
+            "fingertip_max_gap": 0.09035846993588287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013134299019727824,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159174687228628,
+            "object_top_z": 1.2046913469405007,
+            "finger_top_clearance": 0.0455166597118728,
+            "fingertip_min_top_clearance": 0.01365499791356184,
+            "object_projection_between_fingers": 0.8180717478751414,
+            "object_to_finger_line_xy": 0.010134041205476058,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047679234967941436,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.32022908249540954,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 376,
+            "max_stable_success_frames": 376,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3074558241438873,
+              -0.3281683427848048,
+              0.8470193711623347
+            ],
+            "target_position": [
+              0.29902603176671516,
+              -0.3298518430330464,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008596253405295745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867322024908794,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193711623347,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543685173178327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637591154970013,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15516972812121957,
+            "release_required_pad_clearance": 0.05318795577485007,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3965904757656067,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00781327486038208,
+            "max_z_decrease": 0.00781327486038208,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035140337057411736,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00781327486038208,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021080016939058827,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00781327486038208,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007813300643392413,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1547259539365769,
+              -0.38611331582069397,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1547259539365769,
+              -0.38611331582069397,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15513486951506636,
+              -0.3861504621286258,
+              0.8078143858571347
+            ],
+            "closest_button": [
+              0.15471364557743075,
+              -0.38611951470375055,
+              0.7726765871047974
+            ],
+            "closest_ee_minus_button": [
+              0.0004212239376356064,
+              -3.0947424875249485e-05,
+              0.03513779875233736
+            ],
+            "button_min_z_position": [
+              0.15470591187477117,
+              -0.38611441850662226,
+              0.7689955830574036
+            ],
+            "min_active_finger_to_button": 0.14572611515773745,
+            "closest_active_finger": [
+              0.013795457780361176,
+              -0.37173697352409363,
+              0.8106277585029602
+            ],
+            "closest_active_finger_button": [
+              0.15472565591335302,
+              -0.3861147463321685,
+              0.7764508724212646
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14093019813299185,
+              0.014377772808074896,
+              0.03417688608169556
+            ],
+            "min_contact_pad_to_button": 0.021080016939058827,
+            "closest_contact_pad": [
+              0.15470591187477117,
+              -0.3871364319025645,
+              0.7900508105026135
+            ],
+            "closest_contact_pad_button": [
+              0.15470591187477117,
+              -0.38611441850662226,
+              0.7689955830574036
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010220133959422673,
+              0.021055227445209934
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8c80e66ed657dcfdc9cecfd786e97de4fd030707bfc3077e41a7d51fbede7d2",
+    "visual_seed": 7452007468436819045,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5368a3dce63635132c65b30fd9041692f9984fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_12_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22715993711138793,
+              0.3049836195173475,
+              1.1581671318551685
+            ],
+            "current_z": 1.1581671318551685,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30158056484195817,
+            "gripper_z": 1.151240464218567,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22256164765682093,
+              0.3001228579367313,
+              1.151240464218567
+            ],
+            "object_minus_gripper": [
+              0.0045982894545670006,
+              0.0048607615806161575,
+              0.006926667636601547
+            ],
+            "object_to_gripper_xy": 0.006691133614835095,
+            "object_to_gripper_z": 0.006926667636601547,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22715993711138793,
+              0.2812031974369054,
+              1.1581671318551685
+            ],
+            "finger_b": [
+              0.2161693049454744,
+              0.3049836195173475,
+              1.1581671318551685
+            ],
+            "finger_midpoint": [
+              0.22166462102843115,
+              0.29309340847712645,
+              1.1581671318551685
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549531608295678,
+              0.011890211040221033,
+              0.0
+            ],
+            "finger_gap": 0.02619737524505823,
+            "fingertip_max_gap": 0.0904691589321695,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01309868762252912,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1581671318551685,
+            "object_top_z": 1.2036768612300606,
+            "finger_top_clearance": 0.04550972937489206,
+            "fingertip_min_top_clearance": 0.013652918812467617,
+            "object_projection_between_fingers": 0.8239930632132703,
+            "object_to_finger_line_xy": 0.009976643438186024,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773457946608475,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2732066494989398,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30182691850324006,
+              -0.3372148584422281,
+              0.8470194267378287
+            ],
+            "target_position": [
+              0.29416881049148924,
+              -0.33831630377028593,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007736911536934006,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1875390393334854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194267378287,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566419344576658,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534486553795616,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1552451128863323,
+            "release_required_pad_clearance": 0.05267243276897808,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.40153779516679156,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007587313652038574,
+            "max_z_decrease": 0.007587313652038574,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516617124421296,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007587313652038574,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105427356296597,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007587313652038574,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007587336778162076,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14986874163150787,
+              -0.39457777142524714,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14986874163150787,
+              -0.39457777142524714,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15068463047298636,
+              -0.3935593956345386,
+              0.8081736750976901
+            ],
+            "closest_button": [
+              0.1498575061559677,
+              -0.39458271861076344,
+              0.7730321288108826
+            ],
+            "closest_ee_minus_button": [
+              0.000827124317018646,
+              0.0010233229762248164,
+              0.035141546286807546
+            ],
+            "button_min_z_position": [
+              0.1498500257730484,
+              -0.39457857608795155,
+              0.7692215442657471
+            ],
+            "min_active_finger_to_button": 0.14496563871524976,
+            "closest_active_finger": [
+              0.02353861927986145,
+              -0.4569667875766754,
+              0.810409665107727
+            ],
+            "closest_active_finger_button": [
+              0.14986833930015564,
+              -0.39457958936691273,
+              0.7762969732284546
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263297200202942,
+              -0.062387198209762684,
+              0.03411269187927246
+            ],
+            "min_contact_pad_to_button": 0.02105427356296597,
+            "closest_contact_pad": [
+              0.1498500257730484,
+              -0.3946175415138691,
+              0.7902757817717645
+            ],
+            "closest_contact_pad_button": [
+              0.1498500257730484,
+              -0.39457857608795155,
+              0.7692215442657471
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -3.896542591752539e-05,
+              0.021054237506017426
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a592d250dff726c5640f4f594d61e5c4bbe6fc7e035be9958007263a3fb2b153",
+    "visual_seed": 9144350269970590612,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..310485b6d5357bdc7f556419c335c072fef5d408
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_13_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22763302142037492,
+              0.3040776926350256,
+              1.15462392609248
+            ],
+            "current_z": 1.15462392609248,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.2980374186839143,
+            "gripper_z": 1.1476766626222499,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22305869786555613,
+              0.2993132939893522,
+              1.1476766626222499
+            ],
+            "object_minus_gripper": [
+              0.004574323554818793,
+              0.004764398645673407,
+              0.006947263470230114
+            ],
+            "object_to_gripper_xy": 0.006604841439358301,
+            "object_to_gripper_z": 0.006947263470230114,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22763302142037492,
+              0.280022852096997,
+              1.15462392609248
+            ],
+            "finger_b": [
+              0.2172130337694457,
+              0.3040776926350256,
+              1.15462392609248
+            ],
+            "finger_midpoint": [
+              0.2224230275949103,
+              0.29205027236601133,
+              1.15462392609248
+            ],
+            "object_minus_finger_midpoint": [
+              0.005209993825464609,
+              0.012027420269014266,
+              0.0
+            ],
+            "finger_gap": 0.026214719070695777,
+            "fingertip_max_gap": 0.0907688299500318,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013107359535347864,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.15462392609248,
+            "object_top_z": 1.2000402392047373,
+            "finger_top_clearance": 0.045416313112257356,
+            "fingertip_min_top_clearance": 0.013624893933677206,
+            "object_projection_between_fingers": 0.8420047637670076,
+            "object_to_finger_line_xy": 0.009561465857229827,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478844149750159,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6061653288816601,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30577326435703833,
+              -0.3279783669646485,
+              0.8470195089268152
+            ],
+            "target_position": [
+              0.296467671806994,
+              -0.3298425641258435,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009490483852957542,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19064266167724697,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195089268152,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528284871256537,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15941798477756566,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076427459716796875,
+            "max_z_decrease": 0.0076427459716796875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519159059740728,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076427459716796875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021071824365901146,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076427459716796875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007642767684704279,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15216760337352753,
+              -0.386104017496109,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15216760337352753,
+              -0.386104017496109,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15352312900235532,
+              -0.3849231864515723,
+              0.8079132956889615
+            ],
+            "closest_button": [
+              0.15215665102005005,
+              -0.38611119985580444,
+              0.7727683186531067
+            ],
+            "closest_ee_minus_button": [
+              0.0013664779823052697,
+              0.0011880134042321355,
+              0.03514497703585484
+            ],
+            "button_min_z_position": [
+              0.15214949846267697,
+              -0.38610604405403137,
+              0.769166111946106
+            ],
+            "min_active_finger_to_button": 0.14441637151902925,
+            "closest_active_finger": [
+              0.025951676070690155,
+              -0.4474434554576874,
+              0.8106709718704224
+            ],
+            "closest_active_finger_button": [
+              0.15216818451881406,
+              -0.38610658049583435,
+              0.7765642404556274
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1262165084481239,
+              -0.06133687496185303,
+              0.03410673141479492
+            ],
+            "min_contact_pad_to_button": 0.021071824365901146,
+            "closest_contact_pad": [
+              0.15214949846267697,
+              -0.3861452408003529,
+              0.790237899856069
+            ],
+            "closest_contact_pad_button": [
+              0.15214949846267697,
+              -0.38610604405403137,
+              0.769166111946106
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -3.91967463215237e-05,
+              0.021071787909963002
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6cee4080e33c2d45f33b6842b7dc7957c8c202cb89113a94c2fe92f4a7356f3",
+    "visual_seed": 210666606585272423,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1665553a332dc13a1b7e3d5f7ae0c7389aa18a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_14_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2198903789087676,
+              0.3083838284120131,
+              1.156152079355681
+            ],
+            "current_z": 1.156152079355681,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.29956551234247064,
+            "gripper_z": 1.1493542949149242,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2155687661177695,
+              0.30353673165274836,
+              1.1493542949149242
+            ],
+            "object_minus_gripper": [
+              0.004321612790998075,
+              0.004847096759264757,
+              0.006797784440756738
+            ],
+            "object_to_gripper_xy": 0.006493895911468945,
+            "object_to_gripper_z": 0.006797784440756738,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2198903789087676,
+              0.28471171163211484,
+              1.156152079355681
+            ],
+            "finger_b": [
+              0.209068681754313,
+              0.3083838284120131,
+              1.156152079355681
+            ],
+            "finger_midpoint": [
+              0.2144795303315403,
+              0.296547770022064,
+              1.156152079355681
+            ],
+            "object_minus_finger_midpoint": [
+              0.00541084857722729,
+              0.011836058389949111,
+              0.0
+            ],
+            "finger_gap": 0.02602841220942745,
+            "fingertip_max_gap": 0.0906152579162848,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0130142061047137,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.156152079355681,
+            "object_top_z": 1.2016070022477932,
+            "finger_top_clearance": 0.04545492289211217,
+            "fingertip_min_top_clearance": 0.013636476867633683,
+            "object_projection_between_fingers": 0.8271396452052249,
+            "object_to_finger_line_xy": 0.00984203249647922,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047807628958142404,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7496581445660987,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30345888492203504,
+              -0.33503602931526305,
+              0.8470195811913488
+            ],
+            "target_position": [
+              0.2958686336940742,
+              -0.33602349460019565,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007654214616308353,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18744941059742443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195811913488,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545517716092169,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08589121215372407,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15562174483506697,
+            "release_required_pad_clearance": 0.05294560607686204,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9278765706132475,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007480978965759277,
+            "max_z_decrease": 0.007480978965759277,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035137187142421075,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007480978965759277,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02105208815361514,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007480978965759277,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007480999129210889,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15156856179237366,
+              -0.3922849595546722,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15156856179237366,
+              -0.3922849595546722,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1510578232722172,
+              -0.39203960799011245,
+              0.8082631573669011
+            ],
+            "closest_button": [
+              0.15155763924121857,
+              -0.39228990674018854,
+              0.7731304168701172
+            ],
+            "closest_ee_minus_button": [
+              -0.0004998159690013659,
+              0.0002502987500760945,
+              0.03513274049678394
+            ],
+            "button_min_z_position": [
+              0.15155120193958282,
+              -0.39228439331054676,
+              0.7693278789520264
+            ],
+            "min_active_finger_to_button": 0.14645904343274127,
+            "closest_active_finger": [
+              0.02457859367132187,
+              -0.4567730724811554,
+              0.8105444312095642
+            ],
+            "closest_active_finger_button": [
+              0.15156833827495572,
+              -0.3922864794731139,
+              0.7764074206352234
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12698974460363385,
+              -0.06448659300804149,
+              0.03413701057434082
+            ],
+            "min_contact_pad_to_button": 0.02105208815361514,
+            "closest_contact_pad": [
+              0.15155120193958282,
+              -0.3929986280157216,
+              0.7903678476880656
+            ],
+            "closest_contact_pad_button": [
+              0.15155120193958282,
+              -0.39228439331054676,
+              0.7693278789520264
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007142347051748432,
+              0.021039968736039194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81f894102b324e28bc6bd6f4ec4e2287080427c06e3f035054e38e929eb5b4aa",
+    "visual_seed": 6420422251166068075,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94892ecfa35ec7bbe140262ab39d14273b616e39
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_15_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.224547429665289,
+              0.2991849857576195,
+              1.1583507959385473
+            ],
+            "current_z": 1.1583507959385473,
+            "required_z": 0.8565866266178549,
+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.3017641693206924,
+            "gripper_z": 1.1515406588566104,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2200793856231905,
+              0.2943995389154616,
+              1.1515406588566104
+            ],
+            "object_minus_gripper": [
+              0.0044680440420985235,
+              0.00478544684215787,
+              0.006810137081936896
+            ],
+            "object_to_gripper_xy": 0.006547054226234181,
+            "object_to_gripper_z": 0.006810137081936896,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.224547429665289,
+              0.2753141250013903,
+              1.1583507959385473
+            ],
+            "finger_b": [
+              0.21394093806238157,
+              0.2991849857576195,
+              1.1583507959385473
+            ],
+            "finger_midpoint": [
+              0.2192441838638353,
+              0.2872495553795049,
+              1.1583507959385473
+            ],
+            "object_minus_finger_midpoint": [
+              0.005303245801453721,
+              0.011935430378114564,
+              0.0
+            ],
+            "finger_gap": 0.026121172587880288,
+            "fingertip_max_gap": 0.09061443473524572,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01306058629394012,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583507959385473,
+            "object_top_z": 1.2037400986501936,
+            "finger_top_clearance": 0.04538930271164632,
+            "fingertip_min_top_clearance": 0.013616790813493929,
+            "object_projection_between_fingers": 0.8351237247627317,
+            "object_to_finger_line_xy": 0.009692753390504034,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780721736762286,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6675518239727699,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30423753830083883,
+              -0.33525391965993456,
+              0.8470196199818855
+            ],
+            "target_position": [
+              0.29636842603052216,
+              -0.33644056242290343,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007958080734056093,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18626953547411035,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196199818855,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526052937253326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603321364496651,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15510218640718573,
+            "release_required_pad_clearance": 0.053016606822483256,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0653154871149964,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007587432861328125,
+            "max_z_decrease": 0.007587432861328125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517394372394406,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007587432861328125,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021072680270817122,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007587432861328125,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007587455493802525,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15206834673881528,
+              -0.3927020132541656,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15206834673881528,
+              -0.3927020132541656,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15293165214596213,
+              -0.3915237713526821,
+              0.8081255396001082
+            ],
+            "closest_button": [
+              0.15205857157707212,
+              -0.39270913600921625,
+              0.7729824185371399
+            ],
+            "closest_ee_minus_button": [
+              0.0008730805688900167,
+              0.001185364656534127,
+              0.03514312106296835
+            ],
+            "button_min_z_position": [
+              0.1520499289035797,
+              -0.39270406961441034,
+              0.7692214250564575
+            ],
+            "min_active_finger_to_button": 0.1448694619989488,
+            "closest_active_finger": [
+              0.024675995111465454,
+              -0.4526508152484894,
+              0.8103760480880737
+            ],
+            "closest_active_finger_button": [
+              0.15206903219223022,
+              -0.39270433783531183,
+              0.776249885559082
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12739303708076477,
+              -0.059946477413177546,
+              0.0341261625289917
+            ],
+            "min_contact_pad_to_button": 0.021072680270817122,
+            "closest_contact_pad": [
+              0.1520499289035797,
+              -0.39288675926593597,
+              0.7902933133982106
+            ],
+            "closest_contact_pad_button": [
+              0.1520499289035797,
+              -0.39270406961441034,
+              0.7692214250564575
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00018268965152562489,
+              0.02107188834175311
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "55dea5254519240a22a373e0897f308656f74a24851cacb4138e2b6e24475a44",
+    "visual_seed": 2112613536737774975,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cdfecb29a68a3850408e47edea74c2c99bc97ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_16_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22104606235472715,
+              0.30563063238358124,
+              1.156543645013082
+            ],
+            "current_z": 1.156543645013082,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.29995719720916114,
+            "gripper_z": 1.1496631475051409,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2165897732776568,
+              0.30083253259150955,
+              1.1496631475051409
+            ],
+            "object_minus_gripper": [
+              0.004456289077070352,
+              0.004798099792071686,
+              0.0068804975079410635
+            ],
+            "object_to_gripper_xy": 0.006548303135400414,
+            "object_to_gripper_z": 0.0068804975079410635,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22104606235472715,
+              0.2816101377790398,
+              1.156543645013082
+            ],
+            "finger_b": [
+              0.21062176721236267,
+              0.30563063238358124,
+              1.156543645013082
+            ],
+            "finger_midpoint": [
+              0.2158339147835449,
+              0.2936203850813105,
+              1.156543645013082
+            ],
+            "object_minus_finger_midpoint": [
+              0.005212147571182241,
+              0.012010247302270738,
+              0.0
+            ],
+            "finger_gap": 0.026184921047464074,
+            "fingertip_max_gap": 0.09044045332898529,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013092460523732063,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.156543645013082,
+            "object_top_z": 1.202023222156321,
+            "finger_top_clearance": 0.045479577143239025,
+            "fingertip_min_top_clearance": 0.013643873142971674,
+            "object_projection_between_fingers": 0.8415140160287707,
+            "object_to_finger_line_xy": 0.009562630521949333,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047720226664492646,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6848846491327802,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.302000475272599,
+              -0.32850021064348517,
+              0.8470195633042618
+            ],
+            "target_position": [
+              0.294109239005496,
+              -0.32962989635188666,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007971687376146149,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18507082649723253,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195633042618,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753909757574342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601832320700308,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15363397163627462,
+            "release_required_pad_clearance": 0.05300916160350154,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0505185586703842,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076528191566467285,
+            "max_z_decrease": 0.0076528191566467285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520631139910215,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076528191566467285,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107371213268221,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076528191566467285,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007652838772287328,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1498091667890549,
+              -0.3858913481235504,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1498091667890549,
+              -0.3858913481235504,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15183062057152538,
+              -0.3854280377055476,
+              0.807972197301718
+            ],
+            "closest_button": [
+              0.14979790151119235,
+              -0.38589692115783686,
+              0.7728277444839478
+            ],
+            "closest_ee_minus_button": [
+              0.0020327190603330325,
+              0.0004688834522892371,
+              0.03514445281777023
+            ],
+            "button_min_z_position": [
+              0.14979189634323123,
+              -0.3858927488327026,
+              0.7691560387611389
+            ],
+            "min_active_finger_to_button": 0.14414492881394741,
+            "closest_active_finger": [
+              0.024789102375507355,
+              -0.4490140676498413,
+              0.810736894607544
+            ],
+            "closest_active_finger_button": [
+              0.14980961382389069,
+              -0.3858928680419922,
+              0.7766290307044983
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12502051144838333,
+              -0.06312119960784912,
+              0.034107863903045654
+            ],
+            "min_contact_pad_to_button": 0.02107371213268221,
+            "closest_contact_pad": [
+              0.14979189634323123,
+              -0.38650455660547056,
+              0.7902208680816043
+            ],
+            "closest_contact_pad_button": [
+              0.14979189634323123,
+              -0.3858927488327026,
+              0.7691560387611389
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006118077727679805,
+              0.021064829320465384
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fec74c965d3077cb6a297fcd23d2eb5602e8f67b0dbffa5c13ff509dd0354a1c",
+    "visual_seed": 8886018588702090822,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7decc78763a272e2353945d316df35dd67cdef2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_17_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2285904343364974,
+              0.3050107458771132,
+              1.1583267524232788
+            ],
+            "current_z": 1.1583267524232788,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3017401854100684,
+            "gripper_z": 1.1513021870780813,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2240524494046454,
+              0.30030966346867427,
+              1.1513021870780813
+            ],
+            "object_minus_gripper": [
+              0.004537984931852007,
+              0.004701082408438917,
+              0.007024565345197464
+            ],
+            "object_to_gripper_xy": 0.0065340250269378146,
+            "object_to_gripper_z": 0.007024565345197464,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2285904343364974,
+              0.2808615733540795,
+              1.1583267524232788
+            ],
+            "finger_b": [
+              0.21841359679483682,
+              0.3050107458771132,
+              1.1583267524232788
+            ],
+            "finger_midpoint": [
+              0.22350201556566712,
+              0.2929361596155964,
+              1.1583267524232788
+            ],
+            "object_minus_finger_midpoint": [
+              0.005088418770830272,
+              0.012074586261516806,
+              0.0
+            ],
+            "finger_gap": 0.026205925969074177,
+            "fingertip_max_gap": 0.09060382035853176,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013102962984537057,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583267524232788,
+            "object_top_z": 1.2037391360522838,
+            "finger_top_clearance": 0.045412383629005015,
+            "fingertip_min_top_clearance": 0.013623715088701471,
+            "object_projection_between_fingers": 0.8491912071128397,
+            "object_to_finger_line_xy": 0.009378115691178888,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780191017926588,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5579552716256951,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3091134666763546,
+              -0.33709318750072087,
+              0.8470194480998006
+            ],
+            "target_position": [
+              0.3017679305331547,
+              -0.3381442018854136,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007420345845571274,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18656425080160285,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194480998006,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588188376659759,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08629834266776402,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15377329606546436,
+            "release_required_pad_clearance": 0.053149171333882014,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3229120605355578,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007937848567962646,
+            "max_z_decrease": 0.007937848567962646,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514571932981256,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007937848567962646,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021067907079299432,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007937848567962646,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007937872864342917,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15746785700321192,
+              -0.39440566301345825,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15746785700321192,
+              -0.39440566301345825,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.156593295118257,
+              -0.3945625735832273,
+              0.8078531092580521
+            ],
+            "closest_button": [
+              0.1574562489986419,
+              -0.394411563873291,
+              0.7727183103561401
+            ],
+            "closest_ee_minus_button": [
+              -0.0008629538803849035,
+              -0.0001510097099363117,
+              0.03513479890191196
+            ],
+            "button_min_z_position": [
+              0.15744821727275843,
+              -0.39440572261810297,
+              0.768871009349823
+            ],
+            "min_active_finger_to_button": 0.14692990028110195,
+            "closest_active_finger": [
+              0.02978258579969406,
+              -0.4586092531681061,
+              0.8106409311294556
+            ],
+            "closest_active_finger_button": [
+              0.15746772289276117,
+              -0.3944070339202881,
+              0.7765384912490845
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276851370930671,
+              -0.064202219247818,
+              0.034102439880371094
+            ],
+            "min_contact_pad_to_button": 0.021067907079299432,
+            "closest_contact_pad": [
+              0.15744821727275843,
+              -0.3956213258153573,
+              0.7899038174735334
+            ],
+            "closest_contact_pad_button": [
+              0.15744821727275843,
+              -0.39440572261810297,
+              0.768871009349823
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012156031972543335,
+              0.021032808123710445
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f6c788a58384858f988b2c0ad48006ba277078deb32ffe265428e80303fd647",
+    "visual_seed": 7845028057385000576,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b451865ed36dff9234b8ddf3a89a6a50e3beeba8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_18_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22260284006351408,
+              0.3038062378040394,
+              1.157241933243498
+            ],
+            "current_z": 1.157241933243498,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.30065536623028755,
+            "gripper_z": 1.1502591138105847,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21821450639893875,
+              0.2991743581718904,
+              1.1502591138105847
+            ],
+            "object_minus_gripper": [
+              0.0043883336645753335,
+              0.004631879632149005,
+              0.006982819432913345
+            ],
+            "object_to_gripper_xy": 0.006380578443868704,
+            "object_to_gripper_z": 0.006982819432913345,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22260284006351408,
+              0.2796876948783687,
+              1.157241933243498
+            ],
+            "finger_b": [
+              0.21261826946795714,
+              0.3038062378040394,
+              1.157241933243498
+            ],
+            "finger_midpoint": [
+              0.2176105547657356,
+              0.29174696634120406,
+              1.157241933243498
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049922852977784815,
+              0.012059271462835364,
+              0.0
+            ],
+            "finger_gap": 0.02610355843242606,
+            "fingertip_max_gap": 0.09047182981753707,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013051779216213035,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.157241933243498,
+            "object_top_z": 1.2026416765358208,
+            "finger_top_clearance": 0.04539974329232277,
+            "fingertip_min_top_clearance": 0.01361992298769683,
+            "object_projection_between_fingers": 0.8536949370467563,
+            "object_to_finger_line_xy": 0.00922530524436812,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773591490876854,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5267798459045192,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30564144285806416,
+              -0.33648572515647807,
+              0.8470195811282312
+            ],
+            "target_position": [
+              0.2982820291981569,
+              -0.337474733976043,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074255712145805345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18754023156700417,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195811282312,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570042893687513,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08630631284206734,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15529480385848535,
+            "release_required_pad_clearance": 0.05315315642103367,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.331169422419223,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007740378379821777,
+            "max_z_decrease": 0.007740378379821777,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515644525474246,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007740378379821777,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105504436083429,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007740378379821777,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007740403749302033,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15398195385932922,
+              -0.393736183643341,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15398195385932922,
+              -0.393736183643341,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1546910440293059,
+              -0.3931219557465131,
+              0.8080813212211297
+            ],
+            "closest_button": [
+              0.15397076308727264,
+              -0.39374145865440363,
+              0.7729377150535583
+            ],
+            "closest_ee_minus_button": [
+              0.0007202809420332468,
+              0.0006195029078905345,
+              0.035143606167571395
+            ],
+            "button_min_z_position": [
+              0.1539621502161026,
+              -0.3937369287014007,
+              0.7690684795379639
+            ],
+            "min_active_finger_to_button": 0.14521820851045086,
+            "closest_active_finger": [
+              0.027806997299194336,
+              -0.45702558755874634,
+              0.8109052181243896
+            ],
+            "closest_active_finger_button": [
+              0.15398161113262177,
+              -0.39373758435249323,
+              0.7768035531044006
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12617461383342743,
+              -0.06328800320625311,
+              0.034101665019989014
+            ],
+            "min_contact_pad_to_button": 0.02105504436083429,
+            "closest_contact_pad": [
+              0.1539621502161026,
+              -0.39415668773393164,
+              0.7901193392684193
+            ],
+            "closest_contact_pad_button": [
+              0.1539621502161026,
+              -0.3937369287014007,
+              0.7690684795379639
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00041975903253094193,
+              0.021050859730455396
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d84704ffd301ba1de096b811c9ff774d2daa170831e2392bd5a670eb6dfc1ff",
+    "visual_seed": 5480278224827644444,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63864eecd9f3a34288127fa174fcb5a723080b47
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_19_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22097425265787835,
+              0.3064256946634778,
+              1.1562646620181747
+            ],
+            "current_z": 1.1562646620181747,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.29967809500496434,
+            "gripper_z": 1.149381477052239,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2165557842815252,
+              0.3017457294726559,
+              1.149381477052239
+            ],
+            "object_minus_gripper": [
+              0.004418468376353152,
+              0.004679965190821922,
+              0.0068831849659356514
+            ],
+            "object_to_gripper_xy": 0.006436220706294784,
+            "object_to_gripper_z": 0.0068831849659356514,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22097425265787835,
+              0.2823179015969262,
+              1.1562646620181747
+            ],
+            "finger_b": [
+              0.21086974534016642,
+              0.3064256946634778,
+              1.1562646620181747
+            ],
+            "finger_midpoint": [
+              0.21592199899902237,
+              0.294371798130202,
+              1.1562646620181747
+            ],
+            "object_minus_finger_midpoint": [
+              0.005052253658855976,
+              0.01205389653327582,
+              0.0
+            ],
+            "finger_gap": 0.02613975429634652,
+            "fingertip_max_gap": 0.09051081256182747,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013069877148173292,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1562646620181747,
+            "object_top_z": 1.2017455043414609,
+            "finger_top_clearance": 0.0454808423232862,
+            "fingertip_min_top_clearance": 0.013644252696985859,
+            "object_projection_between_fingers": 0.8505736172472691,
+            "object_to_finger_line_xy": 0.009319038300559027,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04775540628091374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.732365342260226,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2996605740917333,
+              -0.3314950238428067,
+              0.847019544118748
+            ],
+            "target_position": [
+              0.29212033220825334,
+              -0.33237846233984253,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007591818704331018,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18651171117314658,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019544118748,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576878273363906,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08786675477037707,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541305352260618,
+            "release_required_pad_clearance": 0.05393337738518854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8768931926360928,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007664978504180908,
+            "max_z_decrease": 0.007664978504180908,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518871897102369,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007664978504180908,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021258870764959255,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007664978504180908,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007665002813546697,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14782026410102844,
+              -0.38863992691040034,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14782026410102844,
+              -0.38863992691040034,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14822671035118212,
+              -0.3905505535798127,
+              0.8079096573309497
+            ],
+            "closest_button": [
+              0.14780879020690918,
+              -0.388645052909851,
+              0.7727750539779663
+            ],
+            "closest_ee_minus_button": [
+              0.000417920144272943,
+              -0.0019055006699617016,
+              0.03513460335298335
+            ],
+            "button_min_z_position": [
+              0.1478009670972824,
+              -0.3886404633522033,
+              0.7691438794136047
+            ],
+            "min_active_finger_to_button": 0.14553657340556722,
+            "closest_active_finger": [
+              0.007040716707706451,
+              -0.3747207224369049,
+              0.8107383251190186
+            ],
+            "closest_active_finger_button": [
+              0.14782018959522247,
+              -0.3886411786079406,
+              0.7765585780143738
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14077947288751602,
+              0.013920456171035711,
+              0.034179747104644775
+            ],
+            "min_contact_pad_to_button": 0.021258870764959255,
+            "closest_contact_pad": [
+              0.1478009670972824,
+              -0.3916560857255356,
+              0.7901877765788804
+            ],
+            "closest_contact_pad_button": [
+              0.1478009670972824,
+              -0.3886404633522033,
+              0.7691438794136047
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003015622373332305,
+              0.02104389716527566
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d87453f1f08aee4308aee85314cd78d2d587020eec8505e72d5bd156cdbc44f3",
+    "visual_seed": 4768778446778792058,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..177b29142213b8c1c8cd6b2e2ef14afc5438742c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_1_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22273857394492635,
+              0.2995749666539821,
+              1.1583695160205534
+            ],
+            "current_z": 1.1583695160205534,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30178294900734304,
+            "gripper_z": 1.1515805734169324,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21824785699347193,
+              0.2947627874496621,
+              1.1515805734169324
+            ],
+            "object_minus_gripper": [
+              0.004490716951454421,
+              0.004812179204319977,
+              0.006788942603620951
+            ],
+            "object_to_gripper_xy": 0.006582067109394262,
+            "object_to_gripper_z": 0.006788942603620951,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22273857394492635,
+              0.27564232955664125,
+              1.1583695160205534
+            ],
+            "finger_b": [
+              0.2121566830628852,
+              0.2995749666539821,
+              1.1583695160205534
+            ],
+            "finger_midpoint": [
+              0.21744762850390578,
+              0.28760864810531167,
+              1.1583695160205534
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052909454410205725,
+              0.011966318548670418,
+              0.0
+            ],
+            "finger_gap": 0.0261676810793857,
+            "fingertip_max_gap": 0.09061025733098826,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01308384053969285,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583695160205534,
+            "object_top_z": 1.2038068922477554,
+            "finger_top_clearance": 0.04543737622720201,
+            "fingertip_min_top_clearance": 0.013631212868160603,
+            "object_projection_between_fingers": 0.8364705103251838,
+            "object_to_finger_line_xy": 0.009678066371844343,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047805128665494134,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7152111674573063,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3025490443940647,
+              -0.33352562836664146,
+              0.8470186098786994
+            ],
+            "target_position": [
+              0.2931055536599766,
+              -0.3354783898900501,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009643277182167554,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1870695744783678,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470186098786994,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565406120184165,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635025408723783,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15510234174819923,
+            "release_required_pad_clearance": 0.05317512704361892,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3694229110463008,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074803829193115234,
+            "max_z_decrease": 0.0074803829193115234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515140402581852,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074803829193115234,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021105393697307566,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074803829193115234,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074804058450987755,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1488054841756821,
+              -0.39173984527587885,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1488054841756821,
+              -0.39173984527587885,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1496180771307914,
+              -0.392206893335175,
+              0.8082415946850687
+            ],
+            "closest_button": [
+              0.14879453182220465,
+              -0.39174464344978327,
+              0.773102879524231
+            ],
+            "closest_ee_minus_button": [
+              0.0008235453085867483,
+              -0.00046224988539173006,
+              0.035138715160837775
+            ],
+            "button_min_z_position": [
+              0.14878697693347936,
+              -0.3917405307292938,
+              0.7693284749984741
+            ],
+            "min_active_finger_to_button": 0.14530281311443355,
+            "closest_active_finger": [
+              0.008358076214790344,
+              -0.3769509494304657,
+              0.8105605244636536
+            ],
+            "closest_active_finger_button": [
+              0.14880494773387912,
+              -0.3917414247989654,
+              0.7763724327087402
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14044687151908877,
+              0.0147904753684997,
+              0.03418809175491333
+            ],
+            "min_contact_pad_to_button": 0.021105393697307566,
+            "closest_contact_pad": [
+              0.14878697693347936,
+              -0.39323061240197826,
+              0.7903812016562513
+            ],
+            "closest_contact_pad_button": [
+              0.14878697693347936,
+              -0.3917405307292938,
+              0.7693284749984741
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014900816726844401,
+              0.021052726657777132
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "316e3d439691441556706ad64b0ca135c3cf6193862d4b196ee81fe6022b4376",
+    "visual_seed": 4011101703831844643,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa8519c157da26f04d22b4d388b218b438d52b63
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_20_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22155764515110216,
+              0.30702237763894197,
+              1.1584045278564605
+            ],
+            "current_z": 1.1584045278564605,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30181802044789496,
+            "gripper_z": 1.1514081379969112,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2171304662168008,
+              0.30235523826429433,
+              1.1514081379969112
+            ],
+            "object_minus_gripper": [
+              0.004427178934301362,
+              0.004667139374647633,
+              0.006996389859549312
+            ],
+            "object_to_gripper_xy": 0.006432892293417328,
+            "object_to_gripper_z": 0.006996389859549312,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22155764515110216,
+              0.28293582051495,
+              1.1584045278564605
+            ],
+            "finger_b": [
+              0.2114420586491835,
+              0.30702237763894197,
+              1.1584045278564605
+            ],
+            "finger_midpoint": [
+              0.21649985190014281,
+              0.29497909907694597,
+              1.1584045278564605
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050577932509593415,
+              0.012043278561995996,
+              0.0
+            ],
+            "finger_gap": 0.02612445835544018,
+            "fingertip_max_gap": 0.0905166538304863,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013062229177720095,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1584045278564605,
+            "object_top_z": 1.2038694288258833,
+            "finger_top_clearance": 0.045464900969422795,
+            "fingertip_min_top_clearance": 0.013639470290826804,
+            "object_projection_between_fingers": 0.850070343250719,
+            "object_to_finger_line_xy": 0.009326495837966657,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04775832691524315,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6087845862639557,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3014001028934714,
+              -0.3348048901096413,
+              0.8470200570439819
+            ],
+            "target_position": [
+              0.2940919831415975,
+              -0.33567490745611395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007359724484713588,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18492503785697653,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200570439819,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581640999630723,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08612491607452459,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1524414672235091,
+            "release_required_pad_clearance": 0.0530624580372623,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1507836168551124,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007528245449066162,
+            "max_z_decrease": 0.007528245449066162,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518112389292786,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007528245449066162,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021217066945129523,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007528245449066162,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007528270082505378,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1497919112443924,
+              -0.39193636178970337,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1497919112443924,
+              -0.39193636178970337,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15071743768760054,
+              -0.3932239796073861,
+              0.8081943057220783
+            ],
+            "closest_button": [
+              0.14978110790252686,
+              -0.39194256067276007,
+              0.773048996925354
+            ],
+            "closest_ee_minus_button": [
+              0.0009363297850736862,
+              -0.0012814189346260219,
+              0.035145308796724284
+            ],
+            "button_min_z_position": [
+              0.14977270364761353,
+              -0.3919377624988556,
+              0.7692806124687195
+            ],
+            "min_active_finger_to_button": 0.14508637148770887,
+            "closest_active_finger": [
+              0.009751640260219574,
+              -0.37546002864837646,
+              0.8104883432388306
+            ],
+            "closest_active_finger_button": [
+              0.1497916430234909,
+              -0.39193809032440186,
+              0.7763221859931946
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14004000276327133,
+              0.01647806167602539,
+              0.034166157245635986
+            ],
+            "min_contact_pad_to_button": 0.021217066945129523,
+            "closest_contact_pad": [
+              0.14977270364761353,
+              -0.3945306254886913,
+              0.790338651106495
+            ],
+            "closest_contact_pad_button": [
+              0.14977270364761353,
+              -0.3919377624988556,
+              0.7692806124687195
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002592862989835687,
+              0.021058038637775556
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1703203f2bdb7aad912e5c94042f550c38fb2ab6428242da9cca3cfc4c2ed975",
+    "visual_seed": 5513892224676274346,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7528ea4b2a9b0230bdab3ac41a6362260848e3fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_21_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2267816077562179,
+              0.30860361305499134,
+              1.1581785853481
+            ],
+            "current_z": 1.1581785853481,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3015920183348896,
+            "gripper_z": 1.1511851390990473,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22221999834074888,
+              0.3038315132378451,
+              1.1511851390990473
+            ],
+            "object_minus_gripper": [
+              0.0045616094154690146,
+              0.004772099817146269,
+              0.006993446249052626
+            ],
+            "object_to_gripper_xy": 0.00660160716220702,
+            "object_to_gripper_z": 0.006993446249052626,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2267816077562179,
+              0.28456302766365477,
+              1.1581785853481
+            ],
+            "finger_b": [
+              0.21633140805725792,
+              0.30860361305499134,
+              1.1581785853481
+            ],
+            "finger_midpoint": [
+              0.22155650790673792,
+              0.29658332035932305,
+              1.1581785853481
+            ],
+            "object_minus_finger_midpoint": [
+              0.005225099849479969,
+              0.012020292695668289,
+              0.0
+            ],
+            "finger_gap": 0.026213668566347,
+            "fingertip_max_gap": 0.0905974884451729,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013106834283173493,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1581785853481,
+            "object_top_z": 1.2035847609688113,
+            "finger_top_clearance": 0.045406175620711364,
+            "fingertip_min_top_clearance": 0.013621852686213376,
+            "object_projection_between_fingers": 0.8410745055764433,
+            "object_to_finger_line_xy": 0.009583890083278663,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779874422258645,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6601205122824737,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29968189625490815,
+              -0.3334693317530883,
+              0.8470198956400276
+            ],
+            "target_position": [
+              0.2922055717988534,
+              -0.33436013391843,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007529206855305511,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186586160132446,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198956400276,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525850731005951,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543628742850294,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15535162211232503,
+            "release_required_pad_clearance": 0.05271814371425147,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4877851198530753,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007666647434234619,
+            "max_z_decrease": 0.007666647434234619,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514362375854951,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007666647434234619,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02112140771151395,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007666647434234619,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007666674865586926,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14790549874305722,
+              -0.3906216025352478,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14790549874305722,
+              -0.3906216025352478,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1473530876785291,
+              -0.39143144620605924,
+              0.8079702149693133
+            ],
+            "closest_button": [
+              0.14789381623268127,
+              -0.3906268775463104,
+              0.7728399634361267
+            ],
+            "closest_ee_minus_button": [
+              -0.0005407285541521867,
+              -0.0008045686597488166,
+              0.03513025153318661
+            ],
+            "button_min_z_position": [
+              0.14788499474525452,
+              -0.390621155500412,
+              0.769142210483551
+            ],
+            "min_active_finger_to_button": 0.14657882431767266,
+            "closest_active_finger": [
+              0.0061612799763679504,
+              -0.3756243586540222,
+              0.8108267188072205
+            ],
+            "closest_active_finger_button": [
+              0.14790579676628113,
+              -0.3906233310699463,
+              0.7766379117965698
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14174451678991318,
+              0.014998972415924072,
+              0.034188807010650635
+            ],
+            "min_contact_pad_to_button": 0.02112140771151395,
+            "closest_contact_pad": [
+              0.14788499474525452,
+              -0.3925479621126321,
+              0.790175547831559
+            ],
+            "closest_contact_pad_button": [
+              0.14788499474525452,
+              -0.390621155500412,
+              0.769142210483551
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001926806612220111,
+              0.02103333734800794
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d93890397e6748c8f4e4e6706159de2c5aefdba4483aa57a12b90176448878c",
+    "visual_seed": 7149401258041708486,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b862dc8449daf5bc8019f63cf612ec38306eb5c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_22_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2265647898453305,
+              0.30800501498986527,
+              1.1574133093671246
+            ],
+            "current_z": 1.1574133093671246,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30082674235391427,
+            "gripper_z": 1.150406731390047,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22207869750682493,
+              0.30325467956295754,
+              1.150406731390047
+            ],
+            "object_minus_gripper": [
+              0.004486092338505554,
+              0.004750335426907726,
+              0.007006577977077599
+            ],
+            "object_to_gripper_xy": 0.006533812909605909,
+            "object_to_gripper_z": 0.007006577977077599,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2265647898453305,
+              0.2839460149540363,
+              1.1574133093671246
+            ],
+            "finger_b": [
+              0.2162423559252061,
+              0.30800501498986527,
+              1.1574133093671246
+            ],
+            "finger_midpoint": [
+              0.2214035728852683,
+              0.2959755149719508,
+              1.1574133093671246
+            ],
+            "object_minus_finger_midpoint": [
+              0.005161216960062193,
+              0.012029500017914474,
+              0.0
+            ],
+            "finger_gap": 0.02617991834898176,
+            "fingertip_max_gap": 0.09059999249613648,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01308995917449088,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1574133093671246,
+            "object_top_z": 1.202833336802279,
+            "finger_top_clearance": 0.045420027435154386,
+            "fingertip_min_top_clearance": 0.013626008230546315,
+            "object_projection_between_fingers": 0.8445367840699801,
+            "object_to_finger_line_xy": 0.009486180771979913,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047799996248068244,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5878019294407252,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30058012254163524,
+              -0.33833757360933875,
+              0.8470197531241723
+            ],
+            "target_position": [
+              0.2932158814830495,
+              -0.33912007691266627,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007405697657120396,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18577211531410104,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197531241723,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514790634864092,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678433967844755,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15492485724494998,
+            "release_required_pad_clearance": 0.05339216983922378,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7987978276676662,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00775223970413208,
+            "max_z_decrease": 0.00775223970413208,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521347565903331,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00775223970413208,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021249423217108893,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00775223970413208,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007752261090129149,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1489158123731613,
+              -0.39538154006004333,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1489158123731613,
+              -0.39538154006004333,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15029499536354032,
+              -0.3973474435637565,
+              0.8080910979795419
+            ],
+            "closest_button": [
+              0.148904800415039,
+              -0.39538633823394775,
+              0.7729597687721252
+            ],
+            "closest_ee_minus_button": [
+              0.0013901949485013165,
+              -0.0019611053298087544,
+              0.035131329207416684
+            ],
+            "button_min_z_position": [
+              0.14889760315418238,
+              -0.39538148045539856,
+              0.7690566182136536
+            ],
+            "min_active_finger_to_button": 0.14462833906027278,
+            "closest_active_finger": [
+              0.008955016732215881,
+              -0.3828563094139099,
+              0.8110346794128418
+            ],
+            "closest_active_finger_button": [
+              0.14891481399536127,
+              -0.39538320899009705,
+              0.7768047451972961
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399597972631454,
+              0.012526899576187134,
+              0.034229934215545654
+            ],
+            "min_contact_pad_to_button": 0.021249423217108893,
+            "closest_contact_pad": [
+              0.14889760315418238,
+              -0.3982887405925121,
+              0.7901062221423492
+            ],
+            "closest_contact_pad_button": [
+              0.14889760315418238,
+              -0.39538148045539856,
+              0.7690566182136536
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029072601371135653,
+              0.021049603928695593
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "adbf9bb481ec0c94b349bd9b1384defacb280f38f104c13e95cf87d142d59193",
+    "visual_seed": 684894482125039100,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53dd81a7c6754107092187d91d9dbaac97f4a47
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_23_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21921423297251333,
+              0.303453362881493,
+              1.1573599172816762
+            ],
+            "current_z": 1.1573599172816762,
+            "required_z": 0.8565866266178549,
+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.3007732906638213,
+            "gripper_z": 1.150376299683576,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2148784795118663,
+              0.29883772292962263,
+              1.150376299683576
+            ],
+            "object_minus_gripper": [
+              0.004335753460647018,
+              0.004615639951870365,
+              0.006983617598100178
+            ],
+            "object_to_gripper_xy": 0.006332684283683694,
+            "object_to_gripper_z": 0.006983617598100178,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21921423297251333,
+              0.27937991447305977,
+              1.1573599172816762
+            ],
+            "finger_b": [
+              0.20923538578178832,
+              0.303453362881493,
+              1.1573599172816762
+            ],
+            "finger_midpoint": [
+              0.21422480937715083,
+              0.2914166386772764,
+              1.1573599172816762
+            ],
+            "object_minus_finger_midpoint": [
+              0.004989423595362502,
+              0.012036724204216587,
+              0.0
+            ],
+            "finger_gap": 0.02605970662784477,
+            "fingertip_max_gap": 0.09047101332193605,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01302985331392236,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1573599172816762,
+            "object_top_z": 1.2028113019924143,
+            "finger_top_clearance": 0.04545138471073806,
+            "fingertip_min_top_clearance": 0.013635415413221386,
+            "object_projection_between_fingers": 0.853370383105968,
+            "object_to_finger_line_xy": 0.009218264290238648,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773550666096803,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6302963795255966,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30550788163892395,
+              -0.3310320999423834,
+              0.8470187066963214
+            ],
+            "target_position": [
+              0.2978791346202858,
+              -0.3321823269417137,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007714972665173129,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860225026925798,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470187066963214,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547885316143878,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868893359563958,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15439290537772124,
+            "release_required_pad_clearance": 0.0534446679781979,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9003616947094244,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007605314254760742,
+            "max_z_decrease": 0.007605314254760742,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035164452141730265,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007605314254760742,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021207517589014263,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007605314254760742,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007605333777854122,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15357905626296997,
+              -0.3884437978267669,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15357905626296997,
+              -0.3884437978267669,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15395415781020041,
+              -0.38967764977990765,
+              0.8080923215227352
+            ],
+            "closest_button": [
+              0.15356898307800293,
+              -0.3884514868259429,
+              0.7729513645172119
+            ],
+            "closest_ee_minus_button": [
+              0.0003851747321974852,
+              -0.0012261629539647712,
+              0.03514095700552333
+            ],
+            "button_min_z_position": [
+              0.15356191992759705,
+              -0.3884456157684325,
+              0.7692035436630249
+            ],
+            "min_active_finger_to_button": 0.14562944074935172,
+            "closest_active_finger": [
+              0.012936189770698547,
+              -0.37235409021377563,
+              0.8109923005104065
+            ],
+            "closest_active_finger_button": [
+              0.15357878804206848,
+              -0.38844567537307734,
+              0.7768067121505737
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14064259827136993,
+              0.016091585159301702,
+              0.034185588359832764
+            ],
+            "min_contact_pad_to_button": 0.021207517589014263,
+            "closest_contact_pad": [
+              0.15356191992759705,
+              -0.39095801737505154,
+              0.7902617164340753
+            ],
+            "closest_contact_pad_button": [
+              0.15356191992759705,
+              -0.3884456157684325,
+              0.7692035436630249
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025124016066190302,
+              0.021058172771050376
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40d104d3215d1e431b319f2b7c85418c23cd1dad9e59194a04a7862fc8169d4d",
+    "visual_seed": 7595399233237355970,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53e9c1797d3f2839b1c98488b5b5cf9448d49ab4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_24_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2258393710001013,
+              0.30122314018975144,
+              1.1567770123646879
+            ],
+            "current_z": 1.1567770123646879,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30019044535147754,
+            "gripper_z": 1.1498712025840818,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22137219705434108,
+              0.29644559907910095,
+              1.1498712025840818
+            ],
+            "object_minus_gripper": [
+              0.004467173945760211,
+              0.004777541110650485,
+              0.006905809780606065
+            ],
+            "object_to_gripper_xy": 0.006540683613020456,
+            "object_to_gripper_z": 0.006905809780606065,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2258393710001013,
+              0.2773296423451947,
+              1.1567770123646879
+            ],
+            "finger_b": [
+              0.2152744437440647,
+              0.30122314018975144,
+              1.1567770123646879
+            ],
+            "finger_midpoint": [
+              0.220556907372083,
+              0.28927639126747307,
+              1.1567770123646879
+            ],
+            "object_minus_finger_midpoint": [
+              0.005282463628018291,
+              0.011946748922278372,
+              0.0
+            ],
+            "finger_gap": 0.026125024921962895,
+            "fingertip_max_gap": 0.09064894528124853,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013062512460981448,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1567770123646879,
+            "object_top_z": 1.2021727303883702,
+            "finger_top_clearance": 0.04539571802368236,
+            "fingertip_min_top_clearance": 0.01361871540710471,
+            "object_projection_between_fingers": 0.8364616561414268,
+            "object_to_finger_line_xy": 0.00966250050953222,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782447264062427,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7075705686747594,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.302170826165144,
+              -0.3381693790343615,
+              0.8470192977153019
+            ],
+            "target_position": [
+              0.29496087669750326,
+              -0.3390146594742246,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007259329882843754,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18562760318785188,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192977153019,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587268673362994,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561254852493681,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529029647359322,
+            "release_required_pad_clearance": 0.05280627426246841,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6561041888676346,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076601505279541016,
+            "max_z_decrease": 0.0076601505279541016,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522607654179776,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076601505279541016,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105881000368892,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076601505279541016,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007660173193489863,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1506607979536056,
+              -0.39527612924575806,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1506607979536056,
+              -0.39527612924575806,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15200462099588039,
+              -0.39335943864003936,
+              0.8081175527921876
+            ],
+            "closest_button": [
+              0.15064983069896692,
+              -0.3952808976173401,
+              0.7729700207710266
+            ],
+            "closest_ee_minus_button": [
+              0.0013547902969134606,
+              0.0019214589773007273,
+              0.03514753202116094
+            ],
+            "button_min_z_position": [
+              0.15064218640327448,
+              -0.3952770531177521,
+              0.7691487073898315
+            ],
+            "min_active_finger_to_button": 0.14411672842612092,
+            "closest_active_finger": [
+              0.024718910455703735,
+              -0.45647770166397095,
+              0.8103333115577698
+            ],
+            "closest_active_finger_button": [
+              0.15066021680831904,
+              -0.39527764916419983,
+              0.7762309312820435
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1259413063526153,
+              -0.06120005249977112,
+              0.03410238027572632
+            ],
+            "min_contact_pad_to_button": 0.02105881000368892,
+            "closest_contact_pad": [
+              0.15064218640327448,
+              -0.3952770531177521,
+              0.7902075173935205
+            ],
+            "closest_contact_pad_button": [
+              0.15064218640327448,
+              -0.3952770531177521,
+              0.7691487073898315
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105881000368892
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0165971ba63197d639f3aac49651169966f81216a52efff764cf508b44297e9d",
+    "visual_seed": 7340416154283884175,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f61f7218331de45d2feeddb8037a07a3f1792671
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_25_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22020671724370042,
+              0.3108526489173692,
+              1.1551410547177372
+            ],
+            "current_z": 1.1551410547177372,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.29855448770452686,
+            "gripper_z": 1.148139153197775,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21586230946093474,
+              0.30612602917179166,
+              1.148139153197775
+            ],
+            "object_minus_gripper": [
+              0.00434440778276568,
+              0.004726619745577532,
+              0.0070019015199622725
+            ],
+            "object_to_gripper_xy": 0.006419876416430336,
+            "object_to_gripper_z": 0.0070019015199622725,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22020671724370042,
+              0.2869273595489627,
+              1.1551410547177372
+            ],
+            "finger_b": [
+              0.20986948009545808,
+              0.3108526489173692,
+              1.1551410547177372
+            ],
+            "finger_midpoint": [
+              0.21503809866957924,
+              0.2988900042331659,
+              1.1551410547177372
+            ],
+            "object_minus_finger_midpoint": [
+              0.005168618574121181,
+              0.011962644684203272,
+              0.0
+            ],
+            "finger_gap": 0.02606296113685062,
+            "fingertip_max_gap": 0.09062336462653989,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013031480568425341,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1551410547177372,
+            "object_top_z": 1.200577407802002,
+            "finger_top_clearance": 0.04543635308426475,
+            "fingertip_min_top_clearance": 0.013630905925279458,
+            "object_projection_between_fingers": 0.8426881471341435,
+            "object_to_finger_line_xy": 0.009489381837424826,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047811682313269946,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5491243626149106,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3068210157112168,
+              -0.3333697627110143,
+              0.8470195481459772
+            ],
+            "target_position": [
+              0.29892833187559764,
+              -0.3346840980545502,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008001370852817111,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18782177210662176,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195481459772,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575461927471594,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515157492435642,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15549072247963702,
+            "release_required_pad_clearance": 0.05257578746217821,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21670458503457646,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007520556449890137,
+            "max_z_decrease": 0.007520556449890137,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515550868662533,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007520556449890137,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021049147021444146,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007520556449890137,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075205773160809545,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15462826192379,
+              -0.39094555377960205,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15462826192379,
+              -0.39094555377960205,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15353338500435876,
+              -0.39069154688298113,
+              0.8082177510367248
+            ],
+            "closest_button": [
+              0.15461793541908267,
+              -0.3909507691860199,
+              0.7730799317359924
+            ],
+            "closest_ee_minus_button": [
+              -0.0010845504147239116,
+              0.00025922230303876415,
+              0.03513781930073234
+            ],
+            "button_min_z_position": [
+              0.15461055934429171,
+              -0.39094623923301697,
+              0.7692883014678955
+            ],
+            "min_active_finger_to_button": 0.14694660674214044,
+            "closest_active_finger": [
+              0.02658402919769287,
+              -0.4544740319252014,
+              0.8104490637779236
+            ],
+            "closest_active_finger_button": [
+              0.15462774038314822,
+              -0.3909474015235901,
+              0.7763538956642151
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12804371118545535,
+              -0.06352663040161133,
+              0.034095168113708496
+            ],
+            "min_contact_pad_to_button": 0.021049147021444146,
+            "closest_contact_pad": [
+              0.15461055934429171,
+              -0.39174173731488626,
+              0.7903224112216292
+            ],
+            "closest_contact_pad_button": [
+              0.15461055934429171,
+              -0.39094623923301697,
+              0.7692883014678955
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007954980818692947,
+              0.021034109753733654
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31a2e75c1904c27daf0b9785cd96c49e449a778b96364865af33efcef85bc77a",
+    "visual_seed": 5756186352580786342,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a73c54cfcc65e45d234aeeb49c26159fa94318
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_26_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22801832797515856,
+              0.2989792001052467,
+              1.1546586676873165
+            ],
+            "current_z": 1.1546586676873165,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.2980722198833956,
+            "gripper_z": 1.1476577358635758,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22367946430546146,
+              0.2943161329760222,
+              1.1476577358635758
+            ],
+            "object_minus_gripper": [
+              0.004338863669697102,
+              0.004663067129224485,
+              0.00700093182374073
+            ],
+            "object_to_gripper_xy": 0.006369453115917511,
+            "object_to_gripper_z": 0.00700093182374073,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22801832797515856,
+              0.2750956708371127,
+              1.1546586676873165
+            ],
+            "finger_b": [
+              0.21772362016835448,
+              0.2989792001052467,
+              1.1546586676873165
+            ],
+            "finger_midpoint": [
+              0.22287097407175652,
+              0.2870374354711797,
+              1.1546586676873165
+            ],
+            "object_minus_finger_midpoint": [
+              0.005147353903402041,
+              0.011941764634066987,
+              0.0
+            ],
+            "finger_gap": 0.0260077676690885,
+            "fingertip_max_gap": 0.0904980714302839,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01300388383454425,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1546586676873165,
+            "object_top_z": 1.2000342687550904,
+            "finger_top_clearance": 0.04537560106777394,
+            "fingertip_min_top_clearance": 0.013612680320332181,
+            "object_projection_between_fingers": 0.8433169938416105,
+            "object_to_finger_line_xy": 0.009453866181022754,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047749035715141955,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5270770242749875,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3061553323530237,
+              -0.3335384922388679,
+              0.8470194119289353
+            ],
+            "target_position": [
+              0.2984684054518963,
+              -0.33460701436068563,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007760836598466075,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18673266169987543,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194119289353,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075433967849435,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08629336723407231,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551200327853972,
+            "release_required_pad_clearance": 0.05314668361703616,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3175763435524905,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007480800151824951,
+            "max_z_decrease": 0.007480800151824951,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515635071021815,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007480800151824951,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02105567290315412,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007480800151824951,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00748081967449692,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15416833758354181,
+              -0.3908684849739074,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15416833758354181,
+              -0.3908684849739074,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1530931215859163,
+              -0.39062018132657206,
+              0.8082352596575064
+            ],
+            "closest_button": [
+              0.1541582196950912,
+              -0.3908742666244506,
+              0.773095965385437
+            ],
+            "closest_ee_minus_button": [
+              -0.0010650981091749057,
+              0.00025408529787851464,
+              0.03513929427206941
+            ],
+            "button_min_z_position": [
+              0.1541512906551361,
+              -0.3908697068691253,
+              0.7693280577659607
+            ],
+            "min_active_finger_to_button": 0.14693750574765602,
+            "closest_active_finger": [
+              0.025737695395946503,
+              -0.45359084010124207,
+              0.8104687333106995
+            ],
+            "closest_active_finger_button": [
+              0.15416808426380155,
+              -0.3908707499504088,
+              0.7763739228248596
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12843038886785504,
+              -0.06272009015083324,
+              0.034094810485839844
+            ],
+            "min_contact_pad_to_button": 0.02105567290315412,
+            "closest_contact_pad": [
+              0.1541512906551361,
+              -0.39174967095927943,
+              0.7903653347904394
+            ],
+            "closest_contact_pad_button": [
+              0.1541512906551361,
+              -0.3908697068691253,
+              0.7693280577659607
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008799640901541173,
+              0.021037277024478662
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a4b990d6195f4d92aa07bda5d3eadcb2c4185caf84576442e2cdacb0ec4b376c",
+    "visual_seed": 2812190415330809155,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8863c901d4442beabda2cbc18e2e7a8e24a069e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_27_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2205683700695328,
+              0.3020097368725148,
+              1.1560080238525925
+            ],
+            "current_z": 1.1560080238525925,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.29942145683938237,
+            "gripper_z": 1.149211487304107,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21607965357139663,
+              0.29719933040703866,
+              1.149211487304107
+            ],
+            "object_minus_gripper": [
+              0.004488716498136175,
+              0.004810406465476147,
+              0.006796536548485443
+            ],
+            "object_to_gripper_xy": 0.006579406216653187,
+            "object_to_gripper_z": 0.006796536548485443,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2205683700695328,
+              0.27814622806233047,
+              1.1560080238525925
+            ],
+            "finger_b": [
+              0.20989662544768545,
+              0.3020097368725148,
+              1.1560080238525925
+            ],
+            "finger_midpoint": [
+              0.21523249775860914,
+              0.29007798246742267,
+              1.1560080238525925
+            ],
+            "object_minus_finger_midpoint": [
+              0.005335872310923667,
+              0.011931754405092143,
+              0.0
+            ],
+            "finger_gap": 0.026141024960924426,
+            "fingertip_max_gap": 0.09056641536667934,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013070512480462182,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1560080238525925,
+            "object_top_z": 1.2014361187387603,
+            "finger_top_clearance": 0.045428094886167836,
+            "fingertip_min_top_clearance": 0.013628428465850316,
+            "object_projection_between_fingers": 0.8333422077984587,
+            "object_to_finger_line_xy": 0.009741977301355457,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778320768333967,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6038526852421573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30572883745005913,
+              -0.32927988544321224,
+              0.847019508549633
+            ],
+            "target_position": [
+              0.2975432691270443,
+              -0.33064942921729956,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008299348102103254,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18875713690717733,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019508549633,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752739830687109,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610860176915817,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15748873077269984,
+            "release_required_pad_clearance": 0.05305430088457909,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1384779590552494,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007767200469970703,
+            "max_z_decrease": 0.007767200469970703,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516750553668035,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007767200469970703,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021234703901364525,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007767200469970703,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007767227502420444,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15324319899082178,
+              -0.38691088557243347,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15324319899082178,
+              -0.38691088557243347,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15296508904936007,
+              -0.3883980467627068,
+              0.8078007331330662
+            ],
+            "closest_button": [
+              0.15323263406753534,
+              -0.38691854476928705,
+              0.7726653814315796
+            ],
+            "closest_ee_minus_button": [
+              -0.00026754501817527476,
+              -0.0014795019934197295,
+              0.03513535170148663
+            ],
+            "button_min_z_position": [
+              0.15322273969650266,
+              -0.3869120478630066,
+              0.7690416574478149
+            ],
+            "min_active_finger_to_button": 0.14623208307368477,
+            "closest_active_finger": [
+              0.011967256665229797,
+              -0.3708980083465576,
+              0.8106244206428528
+            ],
+            "closest_active_finger_button": [
+              0.15324352681636805,
+              -0.3869136571884155,
+              0.7764434814453125
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14127627015113825,
+              0.01601564884185791,
+              0.03418093919754028
+            ],
+            "min_contact_pad_to_button": 0.021234703901364525,
+            "closest_contact_pad": [
+              0.15322273969650266,
+              -0.3897399298172501,
+              0.7900872207197136
+            ],
+            "closest_contact_pad_button": [
+              0.15322273969650266,
+              -0.3869120478630066,
+              0.7690416574478149
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002827881954243494,
+              0.02104556327189866
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a3ba89fb6d7228ca8a9e2ca7000b7f16947bf5b7ae6f5e1e671dace2bf94224",
+    "visual_seed": 948138840886954637,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..276381a80d67caad2d6febd2b7f94389ef76d764
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_28_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21987165120995275,
+              0.2986662956808385,
+              1.1589853538680301
+            ],
+            "current_z": 1.1589853538680301,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3023988464594646,
+            "gripper_z": 1.1521421427729437,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21557625730303806,
+              0.29386057331509596,
+              1.1521421427729437
+            ],
+            "object_minus_gripper": [
+              0.004295393906914691,
+              0.00480572236574256,
+              0.006843211095086454
+            ],
+            "object_to_gripper_xy": 0.006445570282927502,
+            "object_to_gripper_z": 0.006843211095086454,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21987165120995275,
+              0.2749276171055728,
+              1.1589853538680301
+            ],
+            "finger_b": [
+              0.20921126825872916,
+              0.2986662956808385,
+              1.1589853538680301
+            ],
+            "finger_midpoint": [
+              0.21454145973434097,
+              0.2867969563932057,
+              1.1589853538680301
+            ],
+            "object_minus_finger_midpoint": [
+              0.005330191475611784,
+              0.01186933928763284,
+              0.0
+            ],
+            "finger_gap": 0.026022463856570525,
+            "fingertip_max_gap": 0.09068134954228305,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013011231928285232,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1589853538680301,
+            "object_top_z": 1.2045215613340012,
+            "finger_top_clearance": 0.04553620746597109,
+            "fingertip_min_top_clearance": 0.01366086223979136,
+            "object_projection_between_fingers": 0.8321780418595248,
+            "object_to_finger_line_xy": 0.00972480568185871,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047840674771141525,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7741127024454437,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30865256234591676,
+              -0.3339998347545505,
+              0.8470194403324388
+            ],
+            "target_position": [
+              0.3015490363688072,
+              -0.33490524963057505,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007160995559640917,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18691692933819454,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194403324388,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557714052018076,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618994232636822,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15481131386528682,
+            "release_required_pad_clearance": 0.05309497116318411,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2175441104107898,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007850348949432373,
+            "max_z_decrease": 0.007850348949432373,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035236537581820236,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007850348949432373,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021063756628341146,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007850348949432373,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007850372355761834,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15724895894527433,
+              -0.39116671681404114,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15724895894527433,
+              -0.39116671681404114,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.159088171863574,
+              -0.389443937704202,
+              0.8079174176197002
+            ],
+            "closest_button": [
+              0.1572379320859909,
+              -0.3911733329296112,
+              0.7727720141410828
+            ],
+            "closest_ee_minus_button": [
+              0.0018502397775830848,
+              0.0017293952254092138,
+              0.03514540347861739
+            ],
+            "button_min_z_position": [
+              0.15722982585430142,
+              -0.39116790890693665,
+              0.7689585089683533
+            ],
+            "min_active_finger_to_button": 0.14375637973676392,
+            "closest_active_finger": [
+              0.03264942020177841,
+              -0.45423370599746704,
+              0.8107173442840576
+            ],
+            "closest_active_finger_button": [
+              0.15724958479404444,
+              -0.391168862581253,
+              0.7766069173812866
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12460016459226603,
+              -0.06306484341621404,
+              0.034110426902770996
+            ],
+            "min_contact_pad_to_button": 0.021063756628341146,
+            "closest_contact_pad": [
+              0.15722982585430142,
+              -0.39116790890693665,
+              0.7900222655966944
+            ],
+            "closest_contact_pad_button": [
+              0.15722982585430142,
+              -0.39116790890693665,
+              0.7689585089683533
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021063756628341146
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dd3f0265828b3435f7050cbb3d0ff464c451b9d5d6e34a47904ddcb34a29b434",
+    "visual_seed": 444985060588069784,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..47231a304d6c5715e6f71121be7b38c5ee7d56b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_29_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22447836591267925,
+              0.3022632139864244,
+              1.1573079132974864
+            ],
+            "current_z": 1.1573079132974864,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.30072128667963127,
+            "gripper_z": 1.150534400233516,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21980604199544485,
+              0.29733000085281985,
+              1.150534400233516
+            ],
+            "object_minus_gripper": [
+              0.0046723239172344055,
+              0.004933213133604564,
+              0.006773513063970338
+            ],
+            "object_to_gripper_xy": 0.0067946451422520385,
+            "object_to_gripper_z": 0.006773513063970338,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22447836591267925,
+              0.2784687596277431,
+              1.1573079132974864
+            ],
+            "finger_b": [
+              0.21333470503941251,
+              0.3022632139864244,
+              1.1573079132974864
+            ],
+            "finger_midpoint": [
+              0.21890653547604588,
+              0.29036598680708375,
+              1.1573079132974864
+            ],
+            "object_minus_finger_midpoint": [
+              0.005571830436633368,
+              0.011897227179340664,
+              0.0
+            ],
+            "finger_gap": 0.02627465006209873,
+            "fingertip_max_gap": 0.09029118635107938,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013137325031049365,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1573079132974864,
+            "object_top_z": 1.2028052851147397,
+            "finger_top_clearance": 0.04549737181725333,
+            "fingertip_min_top_clearance": 0.013649211545175998,
+            "object_projection_between_fingers": 0.8201204083867556,
+            "object_to_finger_line_xy": 0.01009175495813961,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047645593175539694,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.36940095344985613,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30074834703265974,
+              -0.33712872676134914,
+              0.8470200740570974
+            ],
+            "target_position": [
+              0.29312744651468225,
+              -0.3381692294388728,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007691603898202461,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18643430460092103,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200740570974,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564964295812886,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530451479968747,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15420563801414142,
+            "release_required_pad_clearance": 0.052652257399843735,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3626161823030929,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007568299770355225,
+            "max_z_decrease": 0.007568299770355225,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035176727005707314,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007568299770355225,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105706816159124,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007568299770355225,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007568325761776161,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14882737398147583,
+              -0.3944306969642638,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14882737398147583,
+              -0.3944306969642638,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15038448818406255,
+              -0.3938273423851155,
+              0.8082148248453325
+            ],
+            "closest_button": [
+              0.1488160640001297,
+              -0.3944342732429504,
+              0.7730783224105835
+            ],
+            "closest_ee_minus_button": [
+              0.0015684241839328539,
+              0.0006069308578348642,
+              0.03513650243474897
+            ],
+            "button_min_z_position": [
+              0.14880754053592682,
+              -0.39443045854568476,
+              0.7692405581474304
+            ],
+            "min_active_finger_to_button": 0.1445141779583388,
+            "closest_active_finger": [
+              0.02391728013753891,
+              -0.45858874917030334,
+              0.8104975819587708
+            ],
+            "closest_active_finger_button": [
+              0.1488267332315445,
+              -0.39443197846412653,
+              0.7763525247573853
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12490945309400558,
+              -0.06415677070617681,
+              0.0341450572013855
+            ],
+            "min_contact_pad_to_button": 0.02105706816159124,
+            "closest_contact_pad": [
+              0.14880754053592682,
+              -0.3947314943628704,
+              0.7902954743666575
+            ],
+            "closest_contact_pad_button": [
+              0.14880754053592682,
+              -0.39443045854568476,
+              0.7692405581474304
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00030103581718565753,
+              0.02105491621922706
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "637fcde3414ead725b7c9c50cd15d5e47509474b60ac760d5304ed6a0e17d789",
+    "visual_seed": 3715102446089339805,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24679a886eadc650495cff24097a2d1d90ee764e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_2_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22666645818622835,
+              0.3066167587334064,
+              1.1581531161706682
+            ],
+            "current_z": 1.1581531161706682,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3015666087621025,
+            "gripper_z": 1.1512442922621924,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22215857687336146,
+              0.3018043612832987,
+              1.1512442922621924
+            ],
+            "object_minus_gripper": [
+              0.00450788131286689,
+              0.004812397450107697,
+              0.006908823908475803
+            ],
+            "object_to_gripper_xy": 0.006593948979837316,
+            "object_to_gripper_z": 0.006908823908475803,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22666645818622835,
+              0.28265590501639776,
+              1.1581531161706682
+            ],
+            "finger_b": [
+              0.21610716735732094,
+              0.3066167587334064,
+              1.1581531161706682
+            ],
+            "finger_midpoint": [
+              0.22138681277177463,
+              0.29463633187490207,
+              1.1581531161706682
+            ],
+            "object_minus_finger_midpoint": [
+              0.005279645414453721,
+              0.011980426858504312,
+              0.0
+            ],
+            "finger_gap": 0.026184368116441807,
+            "fingertip_max_gap": 0.09047887753877285,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013092184058220909,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1581531161706682,
+            "object_top_z": 1.2035720908205059,
+            "finger_top_clearance": 0.045418974649837685,
+            "fingertip_min_top_clearance": 0.013625692394951304,
+            "object_projection_between_fingers": 0.8373757497604004,
+            "object_to_finger_line_xy": 0.009662620911135537,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047739438769386425,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6067064757156871,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30391655169768017,
+              -0.3296539621248949,
+              0.8470198634368897
+            ],
+            "target_position": [
+              0.29584115528048877,
+              -0.33094361549233126,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008177727869214512,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18561020218200003,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198634368897,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752963897215547,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08664702023257807,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15441071793170832,
+            "release_required_pad_clearance": 0.05332351011628904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6626724923860086,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00768810510635376,
+            "max_z_decrease": 0.00768810510635376,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035145239821206396,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00768810510635376,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021103279089913184,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00768810510635376,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076881266211495285,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15154108405113217,
+              -0.3872050642967224,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15154108405113217,
+              -0.3872050642967224,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15207569086085904,
+              -0.38713712652038446,
+              0.807870022377651
+            ],
+            "closest_button": [
+              0.15152992308139795,
+              -0.3872113525867462,
+              0.7727290987968445
+            ],
+            "closest_ee_minus_button": [
+              0.0005457677794610816,
+              7.422606636175999e-05,
+              0.03514092358080656
+            ],
+            "button_min_z_position": [
+              0.15152300894260406,
+              -0.3872070908546448,
+              0.7691207528114319
+            ],
+            "min_active_finger_to_button": 0.14560220618867092,
+            "closest_active_finger": [
+              0.024155214428901672,
+              -0.44892674684524536,
+              0.8106240034103394
+            ],
+            "closest_active_finger_button": [
+              0.15154121816158292,
+              -0.38720676302909857,
+              0.7765145897865295
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12738600373268125,
+              -0.061719983816146795,
+              0.034109413623809814
+            ],
+            "min_contact_pad_to_button": 0.021103279089913184,
+            "closest_contact_pad": [
+              0.15152300894260406,
+              -0.3884290086492552,
+              0.7901886265828874
+            ],
+            "closest_contact_pad_button": [
+              0.15152300894260406,
+              -0.3872070908546448,
+              0.7691207528114319
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012219177946104498,
+              0.02106787377145547
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98aaba892a140c2576240887ab15b08b7475bcf61cf477dab2edc7214c80b776",
+    "visual_seed": 7383395691742030788,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1896ed68465619d153db4ff02b8fa3fd317d0c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_30_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22309561396850627,
+              0.3093748697493512,
+              1.1582457914337612
+            ],
+            "current_z": 1.1582457914337612,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3016592840251956,
+            "gripper_z": 1.1512446271528292,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21871010542866937,
+              0.304759639725739,
+              1.1512446271528292
+            ],
+            "object_minus_gripper": [
+              0.004385508539836908,
+              0.0046152300236121935,
+              0.007001164280932004
+            ],
+            "object_to_gripper_xy": 0.0063665558447117895,
+            "object_to_gripper_z": 0.007001164280932004,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22309561396850627,
+              0.2852685557290186,
+              1.1582457914337612
+            ],
+            "finger_b": [
+              0.2131216359610335,
+              0.3093748697493512,
+              1.1582457914337612
+            ],
+            "finger_midpoint": [
+              0.2181086249647699,
+              0.2973217127391849,
+              1.1582457914337612
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049869890037363696,
+              0.012053157010166293,
+              0.0
+            ],
+            "finger_gap": 0.02608820831219411,
+            "fingertip_max_gap": 0.09064278680189028,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01304410415609705,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1582457914337612,
+            "object_top_z": 1.203669946454337,
+            "finger_top_clearance": 0.04542415502057584,
+            "fingertip_min_top_clearance": 0.013627246506172752,
+            "object_projection_between_fingers": 0.8538333460152484,
+            "object_to_finger_line_xy": 0.00921626518014445,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782139340094514,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6082844851148281,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30474445095299063,
+              -0.33009478457951663,
+              0.8470192514900652
+            ],
+            "target_position": [
+              0.29667737638688424,
+              -0.33141744990314675,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008174786579076802,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18838884166835873,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192514900652,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518087942476896,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853065491027629,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1573439678988027,
+            "release_required_pad_clearance": 0.052653274551381454,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.36476837388707745,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007806122303009033,
+            "max_z_decrease": 0.007806122303009033,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514514461619767,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007806122303009033,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021165560310742577,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007806122303009033,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0078061463560619385,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15237730741500854,
+              -0.38767892122268666,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15237730741500854,
+              -0.38767892122268666,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15265220392317083,
+              -0.38840037302438424,
+              0.8077751265892196
+            ],
+            "closest_button": [
+              0.15236584842205048,
+              -0.38768744468688954,
+              0.7726383805274963
+            ],
+            "closest_ee_minus_button": [
+              0.00028635550112035557,
+              -0.0007129283374947004,
+              0.035136746061723234
+            ],
+            "button_min_z_position": [
+              0.1523579657077789,
+              -0.38768011331558216,
+              0.7690027356147766
+            ],
+            "min_active_finger_to_button": 0.14578505162885494,
+            "closest_active_finger": [
+              0.011654295027256012,
+              -0.3708973526954651,
+              0.8105900883674622
+            ],
+            "closest_active_finger_button": [
+              0.1523778736591339,
+              -0.3876815438270568,
+              0.7764075398445129
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1407235786318779,
+              0.016784191131591686,
+              0.03418254852294922
+            ],
+            "min_contact_pad_to_button": 0.021165560310742577,
+            "closest_contact_pad": [
+              0.1523579657077789,
+              -0.3897445114149059,
+              0.7900673790666651
+            ],
+            "closest_contact_pad_button": [
+              0.1523579657077789,
+              -0.38768011331558216,
+              0.7690027356147766
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020643980993237387,
+              0.02106464345188852
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "373a8e8c07ae9018f88fb15a8d5616345511b72bdebb117de13487f53c36e3cb",
+    "visual_seed": 6293078301231124442,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..22a810c5cc634576ff68f4aa6a63565df74cbf20
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_31_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22667359531664247,
+              0.30601915900470106,
+              1.1575680973265206
+            ],
+            "current_z": 1.1575680973265206,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3009815303133102,
+            "gripper_z": 1.1507875491854274,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22199377625874164,
+              0.3010711811737613,
+              1.1507875491854274
+            ],
+            "object_minus_gripper": [
+              0.004679819057900825,
+              0.004947977830939754,
+              0.00678054814109319
+            ],
+            "object_to_gripper_xy": 0.00681052061373894,
+            "object_to_gripper_z": 0.00678054814109319,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22667359531664247,
+              0.2822302074796365,
+              1.1575680973265206
+            ],
+            "finger_b": [
+              0.21549494237508046,
+              0.30601915900470106,
+              1.1575680973265206
+            ],
+            "finger_midpoint": [
+              0.22108426884586146,
+              0.2941246832421688,
+              1.1575680973265206
+            ],
+            "object_minus_finger_midpoint": [
+              0.005589326470781003,
+              0.011894475762532275,
+              0.0
+            ],
+            "finger_gap": 0.026284529599172286,
+            "fingertip_max_gap": 0.09041761150742603,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013142264799586143,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1575680973265206,
+            "object_top_z": 1.2030858852552628,
+            "finger_top_clearance": 0.04551778792874228,
+            "fingertip_min_top_clearance": 0.013655336378622684,
+            "object_projection_between_fingers": 0.8191250067613867,
+            "object_to_finger_line_xy": 0.01011729854015394,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047708805753713016,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.35367453604865684,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 374,
+            "max_stable_success_frames": 374,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3031431119116493,
+              -0.33621876808516693,
+              0.847017350834177
+            ],
+            "target_position": [
+              0.2953800563508525,
+              -0.3374055985170293,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00785325398252292,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18842587504738598,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847017350834177,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567583045213376,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556592208057039,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15609168403268614,
+            "release_required_pad_clearance": 0.052782961040285195,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6064948002009497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007707059383392334,
+            "max_z_decrease": 0.007707059383392334,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035164816022604954,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007707059383392334,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02112690438541467,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007707059383392334,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007707083042650129,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15107998251914972,
+              -0.3936670422554016,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15107998251914972,
+              -0.3936670422554016,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15216949675213542,
+              -0.3945149477614227,
+              0.8081070773265895
+            ],
+            "closest_button": [
+              0.15106895565986628,
+              -0.3936717212200165,
+              0.7729696035385132
+            ],
+            "closest_ee_minus_button": [
+              0.0011005410922691472,
+              -0.0008432265414062279,
+              0.0351374737880763
+            ],
+            "button_min_z_position": [
+              0.1510608941316604,
+              -0.393667608499527,
+              0.7691017985343933
+            ],
+            "min_active_finger_to_button": 0.14500675981503347,
+            "closest_active_finger": [
+              0.010842926800251007,
+              -0.37988486886024475,
+              0.8110261559486389
+            ],
+            "closest_active_finger_button": [
+              0.15107895433902735,
+              -0.39366868138313293,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14023602753877634,
+              0.013783812522888184,
+              0.03421729803085327
+            ],
+            "min_contact_pad_to_button": 0.02112690438541467,
+            "closest_contact_pad": [
+              0.1510608941316604,
+              -0.3954714736353688,
+              0.7901515529149591
+            ],
+            "closest_contact_pad_button": [
+              0.1510608941316604,
+              -0.393667608499527,
+              0.7691017985343933
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018038651358417979,
+              0.021049754380565777
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a3b2c7937e735cf359cd44228e7ce4426450e170510bf00c5860139466390d9",
+    "visual_seed": 4751988692363575662,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac88216321a5c5943c5f72969a522315739bdb9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_32_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22298080840634618,
+              0.3083231269810359,
+              1.1577955198202916
+            ],
+            "current_z": 1.1577955198202916,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30120901241172604,
+            "gripper_z": 1.1507830090913789,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21862732919279923,
+              0.3036187898280251,
+              1.1507830090913789
+            ],
+            "object_minus_gripper": [
+              0.004353479213546951,
+              0.004704337153010829,
+              0.007012510728912735
+            ],
+            "object_to_gripper_xy": 0.006409646582455496,
+            "object_to_gripper_z": 0.007012510728912735,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22298080840634618,
+              0.28445242014391775,
+              1.1577955198202916
+            ],
+            "finger_b": [
+              0.2126009015290418,
+              0.3083231269810359,
+              1.1577955198202916
+            ],
+            "finger_midpoint": [
+              0.217790854967694,
+              0.2963877735624768,
+              1.1577955198202916
+            ],
+            "object_minus_finger_midpoint": [
+              0.005189953438652195,
+              0.011935353418559114,
+              0.0
+            ],
+            "finger_gap": 0.026029850396903,
+            "fingertip_max_gap": 0.09061551457142572,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013014925198451524,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1577955198202916,
+            "object_top_z": 1.2031738883599927,
+            "finger_top_clearance": 0.04537836853970112,
+            "fingertip_min_top_clearance": 0.01361351056191037,
+            "object_projection_between_fingers": 0.8409829946562517,
+            "object_to_finger_line_xy": 0.009518906574053914,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780775728571286,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5769516423190341,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30988981719513636,
+              -0.32803561466379716,
+              0.8470196264465263
+            ],
+            "target_position": [
+              0.30142214108651194,
+              -0.329589359468613,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008609045336102086,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18723203147438233,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196264465263,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546011207837965,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856048712988161,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15563714065867862,
+            "release_required_pad_clearance": 0.05280243564940805,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6513177173478018,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007720589637756348,
+            "max_z_decrease": 0.007720589637756348,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03524483060228806,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007720589637756348,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02123717925561876,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007720589637756348,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007720610907414802,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15712206065654752,
+              -0.38585081696510315,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15712206065654752,
+              -0.38585081696510315,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15915418654587976,
+              -0.38764379974085944,
+              0.8080795246543004
+            ],
+            "closest_button": [
+              0.15711082518100736,
+              -0.3858579993247986,
+              0.7729393243789673
+            ],
+            "closest_ee_minus_button": [
+              0.0020433613648724036,
+              -0.0017858004160608565,
+              0.035140200275333155
+            ],
+            "button_min_z_position": [
+              0.15710398554801935,
+              -0.3858521282672882,
+              0.7690882682800293
+            ],
+            "min_active_finger_to_button": 0.14400763330899827,
+            "closest_active_finger": [
+              0.01777973771095276,
+              -0.3735044002532959,
+              0.8109819889068604
+            ],
+            "closest_active_finger_button": [
+              0.15712110698223114,
+              -0.38585281372070307,
+              0.7767811417579651
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13934136927127838,
+              0.012348413467407171,
+              0.034200847148895264
+            ],
+            "min_contact_pad_to_button": 0.02123717925561876,
+            "closest_contact_pad": [
+              0.15710398554801935,
+              -0.3886066205299077,
+              0.7901460591211991
+            ],
+            "closest_contact_pad_button": [
+              0.15710398554801935,
+              -0.3858521282672882,
+              0.7690882682800293
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002754492262619479,
+              0.021057790841169766
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "014457e9cdd35008a97acc41acbb42c5776104bd57a5060e6c5b26f5453224ba",
+    "visual_seed": 176386281246189983,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bb60fa001da43cb6ac030dc7582140fad0d6c68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_33_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22181042454345395,
+              0.30138001356020017,
+              1.1559746290517736
+            ],
+            "current_z": 1.1559746290517736,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.29938812164320805,
+            "gripper_z": 1.1492364205549024,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21727904813731277,
+              0.29664459607738847,
+              1.1492364205549024
+            ],
+            "object_minus_gripper": [
+              0.00453137640614118,
+              0.004735417482811699,
+              0.006738208496871234
+            ],
+            "object_to_gripper_xy": 0.006554201009326128,
+            "object_to_gripper_z": 0.006738208496871234,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22181042454345395,
+              0.2771948485206889,
+              1.1559746290517736
+            ],
+            "finger_b": [
+              0.21162560304555328,
+              0.30138001356020017,
+              1.1559746290517736
+            ],
+            "finger_midpoint": [
+              0.21671801379450362,
+              0.2892874310404445,
+              1.1559746290517736
+            ],
+            "object_minus_finger_midpoint": [
+              0.005092410748950338,
+              0.012092582519755646,
+              0.0
+            ],
+            "finger_gap": 0.02624219497169585,
+            "fingertip_max_gap": 0.09046512193327322,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013121097485847924,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1559746290517736,
+            "object_top_z": 1.2014510724117873,
+            "finger_top_clearance": 0.04547644336001366,
+            "fingertip_min_top_clearance": 0.013642933008004132,
+            "object_projection_between_fingers": 0.849371716188256,
+            "object_to_finger_line_xy": 0.009386470494955402,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773256096663661,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6739851948455585,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3019355576772491,
+              -0.33292306603656435,
+              0.8470188535500909
+            ],
+            "target_position": [
+              0.294080025289448,
+              -0.33406212447983913,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007937685004646377,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18694781857804346,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470188535500909,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516981952658512,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506213530591276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15613343797271997,
+            "release_required_pad_clearance": 0.052531067652956384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13122071223902743,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007695436477661133,
+            "max_z_decrease": 0.007695436477661133,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515557598411163,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007695436477661133,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112015547038587,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007695436477661133,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007695460709553192,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14977994561195368,
+              -0.39032357931137085,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14977994561195368,
+              -0.39032357931137085,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.148356207974519,
+              -0.39136445949595206,
+              0.8078757095935312
+            ],
+            "closest_button": [
+              0.14976832270622253,
+              -0.39032837748527527,
+              0.7727637887001038
+            ],
+            "closest_ee_minus_button": [
+              -0.0014121147317035232,
+              -0.0010360820106767865,
+              0.035111920893427406
+            ],
+            "button_min_z_position": [
+              0.14976066350936884,
+              -0.3903225064277649,
+              0.7691134214401245
+            ],
+            "min_active_finger_to_button": 0.14739860661252682,
+            "closest_active_finger": [
+              0.007077202200889587,
+              -0.3763951063156128,
+              0.8107255697250366
+            ],
+            "closest_active_finger_button": [
+              0.1497790217399597,
+              -0.3903261125087738,
+              0.7765427231788635
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1427018195390701,
+              0.01393100619316101,
+              0.034182846546173096
+            ],
+            "min_contact_pad_to_button": 0.02112015547038587,
+            "closest_contact_pad": [
+              0.14976066350936884,
+              -0.3924386284042794,
+              0.7901272976859242
+            ],
+            "closest_contact_pad_button": [
+              0.14976066350936884,
+              -0.3903225064277649,
+              0.7691134214401245
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021161219765145067,
+              0.021013876245799645
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b221deacb53d6c6de5e4e5c8e8469773df7a68ddaca91d517b5e795019ce29f",
+    "visual_seed": 3717815011579854730,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c7ddea346fb0c3fb357b7aa6f4a1e3a3f75690b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_34_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22145706726531914,
+              0.3031607996396016,
+              1.1576208167935051
+            ],
+            "current_z": 1.1576208167935051,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3010343093849396,
+            "gripper_z": 1.1507327493231618,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21703975848007243,
+              0.2984232870383054,
+              1.1507327493231618
+            ],
+            "object_minus_gripper": [
+              0.00441730878524671,
+              0.004737512601296179,
+              0.006888067470343318
+            ],
+            "object_to_gripper_xy": 0.006477394734895956,
+            "object_to_gripper_z": 0.006888067470343318,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22145706726531914,
+              0.27912515204448474,
+              1.1576208167935051
+            ],
+            "finger_b": [
+              0.21117913642828443,
+              0.3031607996396016,
+              1.1576208167935051
+            ],
+            "finger_midpoint": [
+              0.21631810184680178,
+              0.2911429758420432,
+              1.1576208167935051
+            ],
+            "object_minus_finger_midpoint": [
+              0.005138965418517355,
+              0.012017823797558391,
+              0.0
+            ],
+            "finger_gap": 0.026140929930044854,
+            "fingertip_max_gap": 0.09043659558527242,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013070464965022401,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1576208167935051,
+            "object_top_z": 1.203055317254481,
+            "finger_top_clearance": 0.045434500460975746,
+            "fingertip_min_top_clearance": 0.013630350138292724,
+            "object_projection_between_fingers": 0.8454143003976611,
+            "object_to_finger_line_xy": 0.009450188813750692,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04771829779263621,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6390541526875042,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30576006795223976,
+              -0.33155992719171706,
+              0.8470193349529636
+            ],
+            "target_position": [
+              0.29801821886306556,
+              -0.33265665379216525,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00781914551314131,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18751631439543845,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193349529636,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536330732400022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504925398469058,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15596585132342278,
+            "release_required_pad_clearance": 0.052524626992345294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11869289001908287,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007509052753448486,
+            "max_z_decrease": 0.007509052753448486,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035244054586777006,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007509052753448486,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021061788353806676,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007509052753448486,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007509079064911816,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15371814370155334,
+              -0.388918101787567,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15371814370155334,
+              -0.388918101787567,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15571786784211528,
+              -0.3872508658912982,
+              0.8082323268444308
+            ],
+            "closest_button": [
+              0.15370714664459229,
+              -0.388923943042755,
+              0.7730854749679565
+            ],
+            "closest_ee_minus_button": [
+              0.002010721197522991,
+              0.0016730771514568143,
+              0.03514685187647426
+            ],
+            "button_min_z_position": [
+              0.15369828045368195,
+              -0.3889188766479491,
+              0.7692998051643372
+            ],
+            "min_active_finger_to_button": 0.14365034828381507,
+            "closest_active_finger": [
+              0.029149822890758514,
+              -0.45180630683898926,
+              0.8104766607284546
+            ],
+            "closest_active_finger_button": [
+              0.15371762216091156,
+              -0.38892048597335804,
+              0.7763642072677612
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12456779927015305,
+              -0.06288582086563121,
+              0.03411245346069336
+            ],
+            "min_contact_pad_to_button": 0.021061788353806676,
+            "closest_contact_pad": [
+              0.15369828045368195,
+              -0.3889188766479491,
+              0.7903615935181438
+            ],
+            "closest_contact_pad_button": [
+              0.15369828045368195,
+              -0.3889188766479491,
+              0.7692998051643372
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021061788353806676
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d2f69658a60fc86c25468efaf3b409265ad6fe8ca0be584f84dcb81cefd73bb",
+    "visual_seed": 1164286136684224977,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c65ad12094d242b08209f5dea4f48cafeabd1e93
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_35_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21990183508964034,
+              0.3094621302054696,
+              1.1559828291032586
+            ],
+            "current_z": 1.1559828291032586,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.2993962620900482,
+            "gripper_z": 1.1489294538350223,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21549879910022923,
+              0.30471464911503704,
+              1.1489294538350223
+            ],
+            "object_minus_gripper": [
+              0.004403035989411108,
+              0.004747481090432548,
+              0.007053375268236239
+            ],
+            "object_to_gripper_xy": 0.006474975106366361,
+            "object_to_gripper_z": 0.007053375268236239,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21990183508964034,
+              0.2855916024629099,
+              1.1559828291032586
+            ],
+            "finger_b": [
+              0.20941796873632848,
+              0.3094621302054696,
+              1.1559828291032586
+            ],
+            "finger_midpoint": [
+              0.2146599019129844,
+              0.29752686633418973,
+              1.1559828291032586
+            ],
+            "object_minus_finger_midpoint": [
+              0.005241933176655944,
+              0.011935263871279855,
+              0.0
+            ],
+            "finger_gap": 0.02607131658398588,
+            "fingertip_max_gap": 0.09061331017644389,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013035658291992947,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1559828291032586,
+            "object_top_z": 1.2014121126824908,
+            "finger_top_clearance": 0.04542928357923226,
+            "fingertip_min_top_clearance": 0.013628785073769677,
+            "object_projection_between_fingers": 0.8382973916450486,
+            "object_to_finger_line_xy": 0.009598879359615349,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780665508822195,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5565398979237123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30475512070596267,
+              -0.33606423574929506,
+              0.8470195369727325
+            ],
+            "target_position": [
+              0.29688657906165866,
+              -0.3372189484512543,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007952817678798648,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18785867863397346,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195369727325,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558126633581493,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642304034333707,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1557412093720834,
+            "release_required_pad_clearance": 0.05321152017166854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4445268113997023,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007772088050842285,
+            "max_z_decrease": 0.007772088050842285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521954029078151,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007772088050842285,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021078115295364956,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007772088050842285,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077721107908816246,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15258650481700894,
+              -0.39348042011260975,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15258650481700894,
+              -0.39348042011260975,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1544909370147243,
+              -0.39215254641820935,
+              0.8079719549674677
+            ],
+            "closest_button": [
+              0.1525771468877792,
+              -0.39348840713500965,
+              0.7728298306465149
+            ],
+            "closest_ee_minus_button": [
+              0.0019137901269450919,
+              0.0013358607168003078,
+              0.03514212432095276
+            ],
+            "button_min_z_position": [
+              0.15256783366203303,
+              -0.39348262548446644,
+              0.7690367698669434
+            ],
+            "min_active_finger_to_button": 0.14389942699596658,
+            "closest_active_finger": [
+              0.026208743453025818,
+              -0.45322421193122864,
+              0.810824990272522
+            ],
+            "closest_active_finger_button": [
+              0.15259018540382382,
+              -0.3934826850891112,
+              0.7766822576522827
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.126381441950798,
+              -0.05974152684211742,
+              0.03414273262023926
+            ],
+            "min_contact_pad_to_button": 0.021078115295364956,
+            "closest_contact_pad": [
+              0.15256783366203303,
+              -0.39351998588999654,
+              0.7901148520521137
+            ],
+            "closest_contact_pad_button": [
+              0.15256783366203303,
+              -0.39348262548446644,
+              0.7690367698669434
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -3.7360405530095786e-05,
+              0.021078082185170377
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3de2348978211c5efbc452f92eb7413dedee37832cdd201a8bff7edb6a73f2f9",
+    "visual_seed": 5008991868945888469,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..89b8dd31686b714bf51b309dcf7b4f7c29cf6a5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_36_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22015372895035107,
+              0.3015200012585782,
+              1.1583540486829853
+            ],
+            "current_z": 1.1583540486829853,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30176748166977496,
+            "gripper_z": 1.1515633372130099,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21580829202192994,
+              0.29682305405493287,
+              1.1515633372130099
+            ],
+            "object_minus_gripper": [
+              0.004345436928421126,
+              0.00469694720364533,
+              0.006790711469975452
+            ],
+            "object_to_gripper_xy": 0.006398760437203265,
+            "object_to_gripper_z": 0.006790711469975452,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22015372895035107,
+              0.27802044396372544,
+              1.1583540486829853
+            ],
+            "finger_b": [
+              0.20926773119725786,
+              0.3015200012585782,
+              1.1583540486829853
+            ],
+            "finger_midpoint": [
+              0.21471073007380448,
+              0.2897702226111518,
+              1.1583540486829853
+            ],
+            "object_minus_finger_midpoint": [
+              0.00544299887654659,
+              0.011749778647426379,
+              0.0
+            ],
+            "finger_gap": 0.02589853548242483,
+            "fingertip_max_gap": 0.09056162913220384,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012949267741212408,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583540486829853,
+            "object_top_z": 1.2038456282137189,
+            "finger_top_clearance": 0.04549157953073357,
+            "fingertip_min_top_clearance": 0.013647473859220072,
+            "object_projection_between_fingers": 0.8233205379159595,
+            "object_to_finger_line_xy": 0.009877629107022416,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778081456610192,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.745179717180733,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30154612043634466,
+              -0.33144620483697435,
+              0.8470195812066632
+            ],
+            "target_position": [
+              0.2938840674177224,
+              -0.33247402704281653,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007730683989596326,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185843668135779,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195812066632,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548584164446241,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547931894612869,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15414932113198734,
+            "release_required_pad_clearance": 0.052739659473064346,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5308163821295064,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00771331787109375,
+            "max_z_decrease": 0.00771331787109375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513395774698437,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00771331787109375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021102488157899342,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00771331787109375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007713338142417588,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1495839953422546,
+              -0.38873547315597534,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1495839953422546,
+              -0.38873547315597534,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1494574366202933,
+              -0.38932229617737757,
+              0.8078792662835985
+            ],
+            "closest_button": [
+              0.14957275986671448,
+              -0.38874033093452454,
+              0.7727503180503845
+            ],
+            "closest_ee_minus_button": [
+              -0.00011532324642118952,
+              -0.0005819652428530331,
+              0.035128948233214
+            ],
+            "button_min_z_position": [
+              0.1495663225650787,
+              -0.38873609900474554,
+              0.7690955400466919
+            ],
+            "min_active_finger_to_button": 0.1461984483110811,
+            "closest_active_finger": [
+              0.00810588151216507,
+              -0.3750312924385071,
+              0.8107341527938843
+            ],
+            "closest_active_finger_button": [
+              0.1495838761329651,
+              -0.38873681426048284,
+              0.7765271067619324
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14147799462080002,
+              0.013705521821975764,
+              0.034207046031951904
+            ],
+            "min_contact_pad_to_button": 0.021102488157899342,
+            "closest_contact_pad": [
+              0.1495663225650787,
+              -0.39025853128289006,
+              0.7901430388627685
+            ],
+            "closest_contact_pad_button": [
+              0.1495663225650787,
+              -0.38873609900474554,
+              0.7690955400466919
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015224322781445254,
+              0.021047498816076593
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f32a8a98ec36bd5a38ab7a81f6148200a3f90bdd1fac68b5f9dc0f12a32cdcd",
+    "visual_seed": 1785167910645729199,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84b24f181d255ad1cc405b3f0edfc4b04c506d8b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_37_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22369665936055472,
+              0.3045619766172878,
+              1.1570452612462152
+            ],
+            "current_z": 1.1570452612462152,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30045875383764964,
+            "gripper_z": 1.1500760956918237,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2192767802032318,
+              0.2998114177501882,
+              1.1500760956918237
+            ],
+            "object_minus_gripper": [
+              0.00441987915732292,
+              0.004750558867099575,
+              0.006969165554391532
+            ],
+            "object_to_gripper_xy": 0.006488693344203897,
+            "object_to_gripper_z": 0.006969165554391532,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22369665936055472,
+              0.28064737435385495,
+              1.1570452612462152
+            ],
+            "finger_b": [
+              0.21324791115153482,
+              0.3045619766172878,
+              1.1570452612462152
+            ],
+            "finger_midpoint": [
+              0.21847228525604478,
+              0.29260467548557134,
+              1.1570452612462152
+            ],
+            "object_minus_finger_midpoint": [
+              0.005224374104509932,
+              0.011957301131716447,
+              0.0
+            ],
+            "finger_gap": 0.026097596451659745,
+            "fingertip_max_gap": 0.09057474505874502,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013048798225829893,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1570452612462152,
+            "object_top_z": 1.2024268579229964,
+            "finger_top_clearance": 0.04538159667678121,
+            "fingertip_min_top_clearance": 0.013614479003034363,
+            "object_projection_between_fingers": 0.8397022210389005,
+            "object_to_finger_line_xy": 0.009574738349269531,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778737252937251,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6302801405959135,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30384684464662187,
+              -0.3351107764207703,
+              0.8470197202978418
+            ],
+            "target_position": [
+              0.2964278826202278,
+              -0.3360751212644445,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007481374106846843,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18689836510272398,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197202978418,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589330294928871,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08667065559813446,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15431162889899216,
+            "release_required_pad_clearance": 0.05333532779906723,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6874384690257465,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00782090425491333,
+            "max_z_decrease": 0.00782090425491333,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515963080714202,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00782090425491333,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021041852770353434,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00782090425491333,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007820927586569866,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15212780237197876,
+              -0.3923365771770477,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15212780237197876,
+              -0.3923365771770477,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1512596084821914,
+              -0.39129688207785257,
+              0.8078295464024812
+            ],
+            "closest_button": [
+              0.15211480855941772,
+              -0.3923413455486297,
+              0.7726958394050598
+            ],
+            "closest_ee_minus_button": [
+              -0.0008552000772263368,
+              0.001044463470777135,
+              0.035133706997421355
+            ],
+            "button_min_z_position": [
+              0.15210869908332825,
+              -0.3923364579677581,
+              0.7689879536628723
+            ],
+            "min_active_finger_to_button": 0.14640157613695293,
+            "closest_active_finger": [
+              0.024445392191410065,
+              -0.45532554388046265,
+              0.8105796575546265
+            ],
+            "closest_active_finger_button": [
+              0.1521272212266922,
+              -0.3923380076885223,
+              0.7764718532562256
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12768182903528214,
+              -0.06298753619194036,
+              0.03410780429840088
+            ],
+            "min_contact_pad_to_button": 0.021041852770353434,
+            "closest_contact_pad": [
+              0.15210869908332825,
+              -0.39234821690302984,
+              0.79002980314757
+            ],
+            "closest_contact_pad_button": [
+              0.15210869908332825,
+              -0.3923364579677581,
+              0.7689879536628723
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -1.1758935271721782e-05,
+              0.021041849484697672
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "133d42a283653f1d48618eb1c158b5d7f91aa23a640abff669f033f8835b8cfc",
+    "visual_seed": 3959241062681099747,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db19af2923957a6a85bd0233de541a840f9ea16
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_38_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22863334002571412,
+              0.30902327081421127,
+              1.1574564709808037
+            ],
+            "current_z": 1.1574564709808037,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.3008698443629486,
+            "gripper_z": 1.1504014049202878,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2240599619852409,
+              0.3042306749682648,
+              1.1504014049202878
+            ],
+            "object_minus_gripper": [
+              0.004573378040473225,
+              0.00479259584594649,
+              0.00705506606051598
+            ],
+            "object_to_gripper_xy": 0.006624557467760867,
+            "object_to_gripper_z": 0.00705506606051598,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22863334002571412,
+              0.2852500750412724,
+              1.1574564709808037
+            ],
+            "finger_b": [
+              0.2177723122372292,
+              0.30902327081421127,
+              1.1574564709808037
+            ],
+            "finger_midpoint": [
+              0.22320282613147166,
+              0.2971366729277418,
+              1.1574564709808037
+            ],
+            "object_minus_finger_midpoint": [
+              0.005430513894242456,
+              0.011886597886469452,
+              0.0
+            ],
+            "finger_gap": 0.026136693782510424,
+            "fingertip_max_gap": 0.0909073620492021,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013068346891255236,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1574564709808037,
+            "object_top_z": 1.2029034315829212,
+            "finger_top_clearance": 0.0454469606021175,
+            "fingertip_min_top_clearance": 0.01363408818063525,
+            "object_projection_between_fingers": 0.8273205923048893,
+            "object_to_finger_line_xy": 0.009878883001022822,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047953681024601055,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.37281524306667047,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3069512225391795,
+              -0.32832115169051096,
+              0.8470194533218811
+            ],
+            "target_position": [
+              0.2978325836926246,
+              -0.33025109498909,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009320636005639857,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18859853626318693,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194533218811,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539884811832742,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614990547690103,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15703780160327102,
+            "release_required_pad_clearance": 0.05307495273845052,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1783420607755124,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075318217277526855,
+            "max_z_decrease": 0.0075318217277526855,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035213147614194966,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075318217277526855,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02120633818788451,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075318217277526855,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007531842251019167,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1535325050354004,
+              -0.38651254773139954,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1535325050354004,
+              -0.38651254773139954,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1553823493627884,
+              -0.38771385681595716,
+              0.8081728890310622
+            ],
+            "closest_button": [
+              0.15352381765842438,
+              -0.38652014732360834,
+              0.773029088973999
+            ],
+            "closest_ee_minus_button": [
+              0.001858531704364036,
+              -0.0011937094923488156,
+              0.03514380005706319
+            ],
+            "button_min_z_position": [
+              0.15351502597332,
+              -0.3865144550800323,
+              0.769277036190033
+            ],
+            "min_active_finger_to_button": 0.14422963353609938,
+            "closest_active_finger": [
+              0.014261722564697266,
+              -0.3711256980895996,
+              0.8104878067970276
+            ],
+            "closest_active_finger_button": [
+              0.15353333950042725,
+              -0.38651502132415766,
+              0.7763004899024963
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13927161693572998,
+              0.01538932323455805,
+              0.03418731689453125
+            ],
+            "min_contact_pad_to_button": 0.02120633818788451,
+            "closest_contact_pad": [
+              0.15351502597332,
+              -0.38892641510551196,
+              0.7903457624964431
+            ],
+            "closest_contact_pad_button": [
+              0.15351502597332,
+              -0.3865144550800323,
+              0.769277036190033
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024119600254796647,
+              0.0210687263064101
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b9091d872895b5458f0858b0cf720b001fa2c4f768f489f78923291dfc8514d",
+    "visual_seed": 6488455759541393909,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a4796971afe6f942f3c0870d141de7f19aa12e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_39_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2278399825320985,
+              0.3058516609063929,
+              1.1592154576381992
+            ],
+            "current_z": 1.1592154576381992,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.3026288310203441,
+            "gripper_z": 1.1522583794400731,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22353700871059465,
+              0.3010942090723987,
+              1.1522583794400731
+            ],
+            "object_minus_gripper": [
+              0.004302973821503853,
+              0.004757451833994175,
+              0.0069570781981260765
+            ],
+            "object_to_gripper_xy": 0.006414743304398237,
+            "object_to_gripper_z": 0.0069570781981260765,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2278399825320985,
+              0.28227984643726267,
+              1.1592154576381992
+            ],
+            "finger_b": [
+              0.21699630939624412,
+              0.3058516609063929,
+              1.1592154576381992
+            ],
+            "finger_midpoint": [
+              0.2224181459641713,
+              0.29406575367182775,
+              1.1592154576381992
+            ],
+            "object_minus_finger_midpoint": [
+              0.005421836567927191,
+              0.01178590723456513,
+              0.0
+            ],
+            "finger_gap": 0.025946400221309045,
+            "fingertip_max_gap": 0.09055577015107555,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012973200110654547,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1592154576381992,
+            "object_top_z": 1.20462332922537,
+            "finger_top_clearance": 0.045407871587170856,
+            "fingertip_min_top_clearance": 0.013622361476151257,
+            "object_projection_between_fingers": 0.8253379269166883,
+            "object_to_finger_line_xy": 0.009851272205087224,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047777885075537777,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6284655458387378,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 377,
+            "max_stable_success_frames": 377,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3040049082661173,
+              -0.3318638133833447,
+              0.8470195184958427
+            ],
+            "target_position": [
+              0.29681862945909737,
+              -0.3328364013425492,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007251794979907634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185021548561566,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195184958427,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569078921600679,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549910663804404,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528706130199675,
+            "release_required_pad_clearance": 0.05274955331902202,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5496506328833471,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007477760314941406,
+            "max_z_decrease": 0.007477760314941406,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035203869230216685,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007477760314941406,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107411343779406,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007477760314941406,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007477784415220013,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15251855552196503,
+              -0.38909786939620966,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15251855552196503,
+              -0.38909786939620966,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15426104489786496,
+              -0.388176487510198,
+              0.8082141887023229
+            ],
+            "closest_button": [
+              0.15250828862190247,
+              -0.38910424709320063,
+              0.7730662226676941
+            ],
+            "closest_ee_minus_button": [
+              0.001752756275962497,
+              0.0009277595830026186,
+              0.035147966034628775
+            ],
+            "button_min_z_position": [
+              0.15249967575073245,
+              -0.38909986615180964,
+              0.7693310976028442
+            ],
+            "min_active_finger_to_button": 0.14419649403387594,
+            "closest_active_finger": [
+              0.026435069739818573,
+              -0.4501904249191284,
+              0.8104565739631653
+            ],
+            "closest_active_finger_button": [
+              0.15251849591732025,
+              -0.3891001939773559,
+              0.7763452529907227
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12608342617750168,
+              -0.061090230941772516,
+              0.03411132097244263
+            ],
+            "min_contact_pad_to_button": 0.02107411343779406,
+            "closest_contact_pad": [
+              0.15249967575073245,
+              -0.3894546423547795,
+              0.7904022245550226
+            ],
+            "closest_contact_pad_button": [
+              0.15249967575073245,
+              -0.38909986615180964,
+              0.7693310976028442
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00035477620296986423,
+              0.021071126952178387
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc696dec0394f045c649f4cdb831e80e520b8ce9b61211229b974467f02f6105",
+    "visual_seed": 6245084956111320648,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca54781084c8c0bf4d59eb7857f3d91999019e95
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_3_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2209820199284802,
+              0.3071421086386053,
+              1.1577173536406822
+            ],
+            "current_z": 1.1577173536406822,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.30113072702282706,
+            "gripper_z": 1.150861149488658,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21666993905804147,
+              0.30227365118879784,
+              1.150861149488658
+            ],
+            "object_minus_gripper": [
+              0.004312080870438745,
+              0.004868457449807462,
+              0.006856204152024148
+            ],
+            "object_to_gripper_xy": 0.006503531300285218,
+            "object_to_gripper_z": 0.006856204152024148,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2209820199284802,
+              0.2834578586207702,
+              1.1577173536406822
+            ],
+            "finger_b": [
+              0.21015685249466132,
+              0.3071421086386053,
+              1.1577173536406822
+            ],
+            "finger_midpoint": [
+              0.21556943621157076,
+              0.2952999836296878,
+              1.1577173536406822
+            ],
+            "object_minus_finger_midpoint": [
+              0.005412583716909447,
+              0.011842125008917515,
+              0.0
+            ],
+            "finger_gap": 0.026040889940198556,
+            "fingertip_max_gap": 0.09051185676915396,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013020444970099253,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1577173536406822,
+            "object_top_z": 1.2031522214879242,
+            "finger_top_clearance": 0.045434867847242044,
+            "fingertip_min_top_clearance": 0.013630460354172579,
+            "object_projection_between_fingers": 0.8271944842205937,
+            "object_to_finger_line_xy": 0.00984551497956748,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047755928384576984,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6768373123202932,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3026023334242296,
+              -0.3323965397011178,
+              0.8470194047378459
+            ],
+            "target_position": [
+              0.2950840958533454,
+              -0.3333175237028029,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007574437781354782,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1873117954151355,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194047378459,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578156532225865,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850181811954832,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15464970648904433,
+            "release_required_pad_clearance": 0.0525090905977416,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.08846428535350429,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007557332515716553,
+            "max_z_decrease": 0.007557332515716553,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522044810384846,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007557332515716553,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021239076467829337,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007557332515716553,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007557355217253248,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15078401565551755,
+              -0.3895789682865143,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15078401565551755,
+              -0.3895789682865143,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15228698081568443,
+              -0.3915251380168424,
+              0.8082199724810466
+            ],
+            "closest_button": [
+              0.15077443420886993,
+              -0.38958302140235895,
+              0.7730856537818909
+            ],
+            "closest_ee_minus_button": [
+              0.001512546606814491,
+              -0.0019421166144834578,
+              0.03513431869915573
+            ],
+            "button_min_z_position": [
+              0.1507654935121536,
+              -0.3895792067050934,
+              0.7692515254020691
+            ],
+            "min_active_finger_to_button": 0.14452870703614928,
+            "closest_active_finger": [
+              0.010838702321052551,
+              -0.37803032994270325,
+              0.8105739951133728
+            ],
+            "closest_active_finger_button": [
+              0.15078347921371457,
+              -0.3895801901817322,
+              0.7763598561286926
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13994477689266202,
+              0.01154986023902893,
+              0.034214138984680176
+            ],
+            "min_contact_pad_to_button": 0.021239076467829337,
+            "closest_contact_pad": [
+              0.1507654935121536,
+              -0.3923852980600714,
+              0.7903044164271473
+            ],
+            "closest_contact_pad_button": [
+              0.1507654935121536,
+              -0.3895792067050934,
+              0.7692515254020691
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002806091354978002,
+              0.021052891025078235
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6292b31638068d95dc554454aaf03c829446e9aef2de7a79411e89a91e732377",
+    "visual_seed": 8430456801432650371,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6901838c4c7c0b4039480e968fc9fcc66bf1b43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_40_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22711180822315002,
+              0.3022701298658075,
+              1.1584014600987529
+            ],
+            "current_z": 1.1584014600987529,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3018149526901873,
+            "gripper_z": 1.1513513711190482,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22258896545289836,
+              0.297512020923153,
+              1.1513513711190482
+            ],
+            "object_minus_gripper": [
+              0.004522842770251667,
+              0.004758108942654493,
+              0.007050088979704716
+            ],
+            "object_to_gripper_xy": 0.006564732091607885,
+            "object_to_gripper_z": 0.007050088979704716,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22711180822315002,
+              0.27852525598538974,
+              1.1584014600987529
+            ],
+            "finger_b": [
+              0.21630891940883648,
+              0.3022701298658075,
+              1.1584014600987529
+            ],
+            "finger_midpoint": [
+              0.22171036381599324,
+              0.2903976929255986,
+              1.1584014600987529
+            ],
+            "object_minus_finger_midpoint": [
+              0.005401444407156786,
+              0.011872436940208897,
+              0.0
+            ],
+            "finger_gap": 0.026086805905119262,
+            "fingertip_max_gap": 0.09055401718152178,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013043402952559662,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1584014600987529,
+            "object_top_z": 1.2037560194499963,
+            "finger_top_clearance": 0.04535455935124344,
+            "fingertip_min_top_clearance": 0.013606367805373032,
+            "object_projection_between_fingers": 0.8285103165381306,
+            "object_to_finger_line_xy": 0.009833064016078433,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047777008590760894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1978327997809672,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3025296908764557,
+              -0.3321200544196685,
+              0.8470197197643885
+            ],
+            "target_position": [
+              0.29446718679984707,
+              -0.3333115115008637,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00815006392377759,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856197520771553,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197197643885,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531986020452673,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08545509194410443,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15437040765714033,
+            "release_required_pad_clearance": 0.05272754597205222,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5066751794562092,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077835917472839355,
+            "max_z_decrease": 0.0077835917472839355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515273322751262,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077835917472839355,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021100799085923185,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0077835917472839355,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00778361355282638,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15016710758209226,
+              -0.3895729780197143,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15016710758209226,
+              -0.3895729780197143,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15111188863050778,
+              -0.38978077834640124,
+              0.8078319933493516
+            ],
+            "closest_button": [
+              0.15015529096126554,
+              -0.3895787298679351,
+              0.772692859172821
+            ],
+            "closest_ee_minus_button": [
+              0.0009565976692422484,
+              -0.0002020484784661103,
+              0.035139134176530584
+            ],
+            "button_min_z_position": [
+              0.15014873445034024,
+              -0.38957434892654413,
+              0.7690252661705017
+            ],
+            "min_active_finger_to_button": 0.14518668936100093,
+            "closest_active_finger": [
+              0.009946763515472412,
+              -0.37376999855041504,
+              0.8106404542922974
+            ],
+            "closest_active_finger_button": [
+              0.150166779756546,
+              -0.3895749449729919,
+              0.7764684557914734
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14022001624107358,
+              0.01580494642257685,
+              0.034171998500823975
+            ],
+            "min_contact_pad_to_button": 0.021100799085923185,
+            "closest_contact_pad": [
+              0.15014873445034024,
+              -0.3908975829595871,
+              0.7900845342906975
+            ],
+            "closest_contact_pad_button": [
+              0.15014873445034024,
+              -0.38957434892654413,
+              0.7690252661705017
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013232340330429637,
+              0.021059268120195762
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43921161ba41f3a7da5de9ff35ffb52c7af71da9e276b6f2f6b205f98f5cec1f",
+    "visual_seed": 5534995629927201856,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3218f458d6f1f31fcc7c3420fc90b8d152f37cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_41_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22701207015710267,
+              0.30111924199731943,
+              1.157326903182589
+            ],
+            "current_z": 1.157326903182589,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30074039577402345,
+            "gripper_z": 1.1503176462793676,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2226261862469813,
+              0.29641932158315903,
+              1.1503176462793676
+            ],
+            "object_minus_gripper": [
+              0.004385883910121374,
+              0.004699920414160397,
+              0.007009256903221406
+            ],
+            "object_to_gripper_xy": 0.006428470235795076,
+            "object_to_gripper_z": 0.007009256903221406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22701207015710267,
+              0.27709361749715605,
+              1.157326903182589
+            ],
+            "finger_b": [
+              0.21680758174739465,
+              0.30111924199731943,
+              1.157326903182589
+            ],
+            "finger_midpoint": [
+              0.22190982595224867,
+              0.28910642974723777,
+              1.157326903182589
+            ],
+            "object_minus_finger_midpoint": [
+              0.005102244204854001,
+              0.012012812250081661,
+              0.0
+            ],
+            "finger_gap": 0.026102915858706596,
+            "fingertip_max_gap": 0.09060322303644658,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013051457929353267,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.157326903182589,
+            "object_top_z": 1.2027529248623514,
+            "finger_top_clearance": 0.045426021679762396,
+            "fingertip_min_top_clearance": 0.01362780650392872,
+            "object_projection_between_fingers": 0.847171473250677,
+            "object_to_finger_line_xy": 0.009392406889521442,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780161151822329,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5898374744344346,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30233889300401484,
+              -0.33526240212594444,
+              0.8470195334091483
+            ],
+            "target_position": [
+              0.29500168181735636,
+              -0.33603678317010255,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007377962726876417,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18847188076253024,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195334091483,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556290806873359,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08519953542403595,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15644500288179472,
+            "release_required_pad_clearance": 0.05259976771201798,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.26244231140986485,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007590293884277344,
+            "max_z_decrease": 0.007590293884277344,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035159627936606604,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007590293884277344,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021067118395617198,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007590293884277344,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007590315005474384,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15070161223411555,
+              -0.39229825139045715,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15070161223411555,
+              -0.39229825139045715,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15185342440792415,
+              -0.3920386051718449,
+              0.8081772994962277
+            ],
+            "closest_button": [
+              0.150690421462059,
+              -0.3923035562038421,
+              0.7730379104614258
+            ],
+            "closest_ee_minus_button": [
+              0.0011630029458651603,
+              0.00026495103199719594,
+              0.03513938903480196
+            ],
+            "button_min_z_position": [
+              0.15068371593952176,
+              -0.39229884743690485,
+              0.7692185640335083
+            ],
+            "min_active_finger_to_button": 0.14500556954483712,
+            "closest_active_finger": [
+              0.02515377104282379,
+              -0.45633217692375183,
+              0.8104245662689209
+            ],
+            "closest_active_finger_button": [
+              0.1507012248039245,
+              -0.3922998905181884,
+              0.7763024568557739
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1255474537611007,
+              -0.06403228640556341,
+              0.03412210941314697
+            ],
+            "min_contact_pad_to_button": 0.021067118395617198,
+            "closest_contact_pad": [
+              0.15068371593952176,
+              -0.39301199135933357,
+              0.7902736086366635
+            ],
+            "closest_contact_pad_button": [
+              0.15068371593952176,
+              -0.39229884743690485,
+              0.7692185640335083
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007131439224287162,
+              0.021055044603155215
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbf187fd057c705035da73848ab530fbef2d8fdb4cef95d68d383978151a2384",
+    "visual_seed": 8057647455174847111,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c97ebce99f077ff4989d4a76908ddeac0aba5d9b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_42_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2214761248661556,
+              0.30497349062572277,
+              1.1559591320995473
+            ],
+            "current_z": 1.1559591320995473,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.2993725650863369,
+            "gripper_z": 1.1491302179300888,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21712267324164333,
+              0.3001054197166161,
+              1.1491302179300888
+            ],
+            "object_minus_gripper": [
+              0.004353451624512256,
+              0.004868070909106681,
+              0.006828914169458411
+            ],
+            "object_to_gripper_xy": 0.00653074692688816,
+            "object_to_gripper_z": 0.006828914169458411,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2214761248661556,
+              0.28124423961808076,
+              1.1559591320995473
+            ],
+            "finger_b": [
+              0.2106734622542838,
+              0.30497349062572277,
+              1.1559591320995473
+            ],
+            "finger_midpoint": [
+              0.2160747935602197,
+              0.29310886512190176,
+              1.1559591320995473
+            ],
+            "object_minus_finger_midpoint": [
+              0.005401331305935897,
+              0.011864625503821002,
+              0.0
+            ],
+            "finger_gap": 0.026072492648184058,
+            "fingertip_max_gap": 0.09057513743619361,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013036246324092029,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1559591320995473,
+            "object_top_z": 1.201372951785366,
+            "finger_top_clearance": 0.0454138196858187,
+            "fingertip_min_top_clearance": 0.01362414590574561,
+            "object_projection_between_fingers": 0.8283291657870927,
+            "object_to_finger_line_xy": 0.009831783102864517,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778756871809681,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7229887256938545,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30518831466273627,
+              -0.3320929010542064,
+              0.8470196272511431
+            ],
+            "target_position": [
+              0.29722512172284776,
+              -0.3333503809114054,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008061866867491137,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18782011067294613,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196272511431,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534019044040967,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610648280596388,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15632716934602217,
+            "release_required_pad_clearance": 0.05305324140298194,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1364136104112752,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00754392147064209,
+            "max_z_decrease": 0.00754392147064209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035174012091809335,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00754392147064209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021088134987028984,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00754392147064209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007543942967131196,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.152925044298172,
+              -0.3896118402481079,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.152925044298172,
+              -0.3896118402481079,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15429399815210848,
+              -0.38927451754502423,
+              0.8081689876240983
+            ],
+            "closest_button": [
+              0.15291605889797213,
+              -0.3896190524101258,
+              0.7730236649513245
+            ],
+            "closest_ee_minus_button": [
+              0.0013779392541363455,
+              0.0003445348651015534,
+              0.035145322672773815
+            ],
+            "button_min_z_position": [
+              0.152907133102417,
+              -0.38961371779441833,
+              0.7692649364471436
+            ],
+            "min_active_finger_to_button": 0.1447788726785427,
+            "closest_active_finger": [
+              0.026538066565990448,
+              -0.4514448642730713,
+              0.8104134798049927
+            ],
+            "closest_active_finger_button": [
+              0.15292581915855408,
+              -0.3896142542362213,
+              0.77629554271698
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12638775259256363,
+              -0.061830610036849976,
+              0.034117937088012695
+            ],
+            "min_contact_pad_to_button": 0.021088134987028984,
+            "closest_contact_pad": [
+              0.152907133102417,
+              -0.390523100238601,
+              0.7903334546864828
+            ],
+            "closest_contact_pad_button": [
+              0.152907133102417,
+              -0.38961371779441833,
+              0.7692649364471436
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009093824441826492,
+              0.021068518239339196
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9c06d86406ed7693b4ad10ebcc2826b8fcadffcdd564a2d88aba7c0468ad93d",
+    "visual_seed": 5272133244603268149,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37dc24029e6f8b49027f0d2c80819fb105233d62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_43_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2207520966869228,
+              0.29958988625479144,
+              1.1542775379258703
+            ],
+            "current_z": 1.1542775379258703,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.29769097091265995,
+            "gripper_z": 1.1475864133940652,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21614709323120654,
+              0.2947835174222949,
+              1.1475864133940652
+            ],
+            "object_minus_gripper": [
+              0.004605003455716267,
+              0.0048063688324965215,
+              0.006691124531805093
+            ],
+            "object_to_gripper_xy": 0.0066563682426044254,
+            "object_to_gripper_z": 0.006691124531805093,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2207520966869228,
+              0.2753713983249014,
+              1.1542775379258703
+            ],
+            "finger_b": [
+              0.21044425243604117,
+              0.29958988625479144,
+              1.1542775379258703
+            ],
+            "finger_midpoint": [
+              0.215598174561482,
+              0.2874806422898464,
+              1.1542775379258703
+            ],
+            "object_minus_finger_midpoint": [
+              0.005153922125440802,
+              0.01210924396494506,
+              0.0
+            ],
+            "finger_gap": 0.0263208436549945,
+            "fingertip_max_gap": 0.0905625339961049,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01316042182749727,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1542775379258703,
+            "object_top_z": 1.199755294666755,
+            "finger_top_clearance": 0.04547775674088461,
+            "fingertip_min_top_clearance": 0.013643327022265382,
+            "object_projection_between_fingers": 0.8466315301363201,
+            "object_to_finger_line_xy": 0.00948451367461366,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778126699805245,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7521572274045684,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3050638043295097,
+              -0.329688764662695,
+              0.8470190627167313
+            ],
+            "target_position": [
+              0.2972899101931214,
+              -0.3308465203020014,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007859632826291449,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18679115754444192,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190627167313,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559388153763547,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549756711972605,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1549667597583719,
+            "release_required_pad_clearance": 0.052748783559863024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5439169027223293,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007691621780395508,
+            "max_z_decrease": 0.007691621780395508,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035138974680589886,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007691621780395508,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02110172656113388,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007691621780395508,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007691643546944583,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15298983454704282,
+              -0.38710796833038325,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15298983454704282,
+              -0.38710796833038325,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15280193480259058,
+              -0.3875998853044805,
+              0.8079270246602523
+            ],
+            "closest_button": [
+              0.15297795832157132,
+              -0.38711312413215637,
+              0.772791862487793
+            ],
+            "closest_ee_minus_button": [
+              -0.00017602351898074464,
+              -0.00048676117232410165,
+              0.03513516217245938
+            ],
+            "button_min_z_position": [
+              0.15297153592109675,
+              -0.3871079385280609,
+              0.7691172361373901
+            ],
+            "min_active_finger_to_button": 0.14625418354376896,
+            "closest_active_finger": [
+              0.011463820934295654,
+              -0.3732341527938843,
+              0.810764491558075
+            ],
+            "closest_active_finger_button": [
+              0.15298989415168757,
+              -0.3871090114116668,
+              0.7765863537788391
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1415260732173919,
+              0.013874858617782537,
+              0.03417813777923584
+            ],
+            "min_contact_pad_to_button": 0.02110172656113388,
+            "closest_contact_pad": [
+              0.15297153592109675,
+              -0.38861272294303734,
+              0.7901652405018259
+            ],
+            "closest_contact_pad_button": [
+              0.15297153592109675,
+              -0.3871079385280609,
+              0.7691172361373901
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015047844149764233,
+              0.02104800436443577
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ab3666f2b2d29181f8d63ab6ad2a75a6e07ebc7658033385f7eaa832cce26e4",
+    "visual_seed": 9191343647624395994,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bce66c9a4830e7b03cfa5920e9a762166f38540f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_44_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2221446505310441,
+              0.30367855007263805,
+              1.1563515338664145
+            ],
+            "current_z": 1.1563515338664145,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.29976508606249364,
+            "gripper_z": 1.149502367869553,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21770934307301937,
+              0.2989590299366969,
+              1.149502367869553
+            ],
+            "object_minus_gripper": [
+              0.004435307458024729,
+              0.00471952013594118,
+              0.006849165996861473
+            ],
+            "object_to_gripper_xy": 0.006476559469406888,
+            "object_to_gripper_z": 0.006849165996861473,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2221446505310441,
+              0.27964417401551744,
+              1.1563515338664145
+            ],
+            "finger_b": [
+              0.21187969043534616,
+              0.30367855007263805,
+              1.1563515338664145
+            ],
+            "finger_midpoint": [
+              0.21701217048319513,
+              0.2916613620440778,
+              1.1563515338664145
+            ],
+            "object_minus_finger_midpoint": [
+              0.00513248004784897,
+              0.012017188028560277,
+              0.0
+            ],
+            "finger_gap": 0.026134663537557997,
+            "fingertip_max_gap": 0.09043118626577962,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013067331768778974,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1563515338664145,
+            "object_top_z": 1.201793068652924,
+            "finger_top_clearance": 0.04544153478650936,
+            "fingertip_min_top_clearance": 0.01363246043595281,
+            "object_projection_between_fingers": 0.8457302753828043,
+            "object_to_finger_line_xy": 0.009440026300579408,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04771559313288981,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6186899540849158,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3034398447432232,
+              -0.33311353918583475,
+              0.8470191656463685
+            ],
+            "target_position": [
+              0.2962799716329534,
+              -0.3338561948482617,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007198285934033169,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863480778766952,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191656463685,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572811711994915,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580433810335962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15400607613697198,
+            "release_required_pad_clearance": 0.05290216905167981,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.842087659990976,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007780194282531738,
+            "max_z_decrease": 0.007780194282531738,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351813410466525,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007780194282531738,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021041304305106867,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007780194282531738,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077802207240425325,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15197989344596857,
+              -0.3901176452636718,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15197989344596857,
+              -0.3901176452636718,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1508877763772275,
+              -0.38876869487454935,
+              0.8077789315282107
+            ],
+            "closest_button": [
+              0.1519676893949508,
+              -0.3901237845420837,
+              0.7726402878761292
+            ],
+            "closest_ee_minus_button": [
+              -0.0010799130177233107,
+              0.0013550896675343371,
+              0.035138643652081525
+            ],
+            "button_min_z_position": [
+              0.15195964276790613,
+              -0.39011880755424494,
+              0.7690286636352539
+            ],
+            "min_active_finger_to_button": 0.14647973911258913,
+            "closest_active_finger": [
+              0.023132875561714172,
+              -0.450886607170105,
+              0.8104903697967529
+            ],
+            "closest_active_finger_button": [
+              0.1519795656204223,
+              -0.39011964201927185,
+              0.7763990163803101
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12884669005870814,
+              -0.06076696515083313,
+              0.03409135341644287
+            ],
+            "min_contact_pad_to_button": 0.021041304305106867,
+            "closest_contact_pad": [
+              0.15195964276790613,
+              -0.39011880755424494,
+              0.7900699679403608
+            ],
+            "closest_contact_pad_button": [
+              0.15195964276790613,
+              -0.39011880755424494,
+              0.7690286636352539
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021041304305106867
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c98833ef758b0c7334c564e4c05a3d3b5b3e9d87b764396ce77ad1a00c80849d",
+    "visual_seed": 7194474724381552197,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc9838b476ac84e344d0feaa1856417c3792568
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_45_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22273912528429266,
+              0.3070611801887876,
+              1.154219971702921
+            ],
+            "current_z": 1.154219971702921,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.29763346429435533,
+            "gripper_z": 1.1472024333745967,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2183880977918255,
+              0.30237228172238284,
+              1.1472024333745967
+            ],
+            "object_minus_gripper": [
+              0.004351027492467158,
+              0.004688898466404745,
+              0.007017538328324191
+            ],
+            "object_to_gripper_xy": 0.006396656084897625,
+            "object_to_gripper_z": 0.007017538328324191,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22273912528429266,
+              0.28328366285148915,
+              1.154219971702921
+            ],
+            "finger_b": [
+              0.21227141781195144,
+              0.3070611801887876,
+              1.154219971702921
+            ],
+            "finger_midpoint": [
+              0.21750527154812205,
+              0.29517242152013834,
+              1.154219971702921
+            ],
+            "object_minus_finger_midpoint": [
+              0.005233853736170607,
+              0.011888758668649246,
+              0.0
+            ],
+            "finger_gap": 0.02597966956010095,
+            "fingertip_max_gap": 0.0906212825235129,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0129898347800505,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.154219971702921,
+            "object_top_z": 1.1995897615902154,
+            "finger_top_clearance": 0.045369789887294454,
+            "fingertip_min_top_clearance": 0.01361093696618837,
+            "object_projection_between_fingers": 0.8376561245704727,
+            "object_to_finger_line_xy": 0.009580418077665296,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781064126175645,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5107993902863985,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3016783305414643,
+              -0.3351473388917493,
+              0.8470195764956971
+            ],
+            "target_position": [
+              0.2936657548425908,
+              -0.3361953098062062,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008080817555651555,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.187971271469959,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195764956971,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075421822325755,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496535687701133,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15625123163960308,
+            "release_required_pad_clearance": 0.05248267843850567,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956467469860709,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007827460765838623,
+            "max_z_decrease": 0.007827460765838623,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516553958767134,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007827460765838623,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021209477100520773,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007827460765838623,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007827477848092792,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14936567842960352,
+              -0.3924567699432373,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14936567842960352,
+              -0.3924567699432373,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14864080846951366,
+              -0.39419230713968423,
+              0.8078133514037695
+            ],
+            "closest_button": [
+              0.14935368299484253,
+              -0.3924610912799835,
+              0.7726976871490479
+            ],
+            "closest_ee_minus_button": [
+              -0.000712874525328866,
+              -0.0017312158597007077,
+              0.03511566425472168
+            ],
+            "button_min_z_position": [
+              0.14934949576854703,
+              -0.3924544155597687,
+              0.768981397151947
+            ],
+            "min_active_finger_to_button": 0.14667763813764842,
+            "closest_active_finger": [
+              0.0072998106479644775,
+              -0.3797493875026703,
+              0.8106812238693237
+            ],
+            "closest_active_finger_button": [
+              0.14936512708663938,
+              -0.39245903491973877,
+              0.7764724493026733
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1420653164386749,
+              0.012709647417068481,
+              0.03420877456665039
+            ],
+            "min_contact_pad_to_button": 0.021209477100520773,
+            "closest_contact_pad": [
+              0.14934949576854703,
+              -0.39523683679164723,
+              0.7900075725285082
+            ],
+            "closest_contact_pad_button": [
+              0.14934949576854703,
+              -0.3924544155597687,
+              0.768981397151947
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027824212318785513,
+              0.02102617537656115
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e08de7363fb62a883600a872127c5779aa1c81c2f7b5c3c6ea4155da2c5a13ba",
+    "visual_seed": 6837495220360099472,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..009a179f082f728bfb52e9119a689a8bafc1ebc4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_46_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2218808320393341,
+              0.30188600863464077,
+              1.1555630194590039
+            ],
+            "current_z": 1.1555630194590039,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.29897639284114874,
+            "gripper_z": 1.1487157573759097,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21742226876411996,
+              0.2971303293181965,
+              1.1487157573759097
+            ],
+            "object_minus_gripper": [
+              0.004458563275214128,
+              0.004755679316444272,
+              0.006847262083094163
+            ],
+            "object_to_gripper_xy": 0.006518839792474117,
+            "object_to_gripper_z": 0.006847262083094163,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2218808320393341,
+              0.2779653268190395,
+              1.1555630194590039
+            ],
+            "finger_b": [
+              0.21138873135837152,
+              0.30188600863464077,
+              1.1555630194590039
+            ],
+            "finger_midpoint": [
+              0.2166347816988528,
+              0.28992566772684014,
+              1.1555630194590039
+            ],
+            "object_minus_finger_midpoint": [
+              0.005246050340481284,
+              0.011960340907800626,
+              0.0
+            ],
+            "finger_gap": 0.02612055120441932,
+            "fingertip_max_gap": 0.09057862841516903,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01306027560220966,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1555630194590039,
+            "object_top_z": 1.2009993958961123,
+            "finger_top_clearance": 0.045436376437108406,
+            "fingertip_min_top_clearance": 0.013630912931132487,
+            "object_projection_between_fingers": 0.8386532491636048,
+            "object_to_finger_line_xy": 0.009608457340827312,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778931420758452,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6350019882753638,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3008817037957422,
+              -0.3353159585745977,
+              0.8470189425739472
+            ],
+            "target_position": [
+              0.2927113802136917,
+              -0.3365550240268163,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008263744346861916,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18695431547311372,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189425739472,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525399774396396,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500841243558797,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15572611563108285,
+            "release_required_pad_clearance": 0.05250420621779399,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912320916797379,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007847785949707031,
+            "max_z_decrease": 0.007847785949707031,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514982696457852,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007847785949707031,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02117172192879151,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007847785949707031,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007847813010868076,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14841130375862122,
+              -0.39281648397445673,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14841130375862122,
+              -0.39281648397445673,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1479315801507446,
+              -0.39432705394828443,
+              0.8078040072168945
+            ],
+            "closest_button": [
+              0.148399144411087,
+              -0.392820805311203,
+              0.7726895809173584
+            ],
+            "closest_ee_minus_button": [
+              -0.00046756426034241794,
+              -0.001506248637081431,
+              0.035114426299536095
+            ],
+            "button_min_z_position": [
+              0.1483907401561737,
+              -0.3928151130676269,
+              0.7689610719680786
+            ],
+            "min_active_finger_to_button": 0.1464808333968781,
+            "closest_active_finger": [
+              0.006509266793727875,
+              -0.3806625306606293,
+              0.8107062578201294
+            ],
+            "closest_active_finger_button": [
+              0.14841093122959134,
+              -0.39281809329986567,
+              0.7764601707458496
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14190166443586347,
+              0.012155562639236395,
+              0.034246087074279785
+            ],
+            "min_contact_pad_to_button": 0.02117172192879151,
+            "closest_contact_pad": [
+              0.1483907401561737,
+              -0.395229759128532,
+              0.7899946473614973
+            ],
+            "closest_contact_pad_button": [
+              0.1483907401561737,
+              -0.3928151130676269,
+              0.7689610719680786
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002414646060905079,
+              0.021033575393418658
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12cd2ad8c6681648277c81dd1c65104a08d5e217215c8a61d5250069c53bb082",
+    "visual_seed": 2927773485082549624,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2ec93576f48312aa8f09f7d98fd22d440377035
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_47_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22688198070724822,
+              0.31061328168030533,
+              1.157163379911467
+            ],
+            "current_z": 1.157163379911467,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30057681289825655,
+            "gripper_z": 1.1501423691528438,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22245376222070634,
+              0.30585680178124336,
+              1.1501423691528438
+            ],
+            "object_minus_gripper": [
+              0.004428218486541874,
+              0.004756479899061972,
+              0.0070210107586230475
+            ],
+            "object_to_gripper_xy": 0.0064987091021780465,
+            "object_to_gripper_z": 0.0070210107586230475,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22688198070724822,
+              0.2867542075320292,
+              1.157163379911467
+            ],
+            "finger_b": [
+              0.21633992161781176,
+              0.31061328168030533,
+              1.157163379911467
+            ],
+            "finger_midpoint": [
+              0.22161095116253,
+              0.29868374460616726,
+              1.157163379911467
+            ],
+            "object_minus_finger_midpoint": [
+              0.005271029544718225,
+              0.011929537074138075,
+              0.0
+            ],
+            "finger_gap": 0.026084294682013332,
+            "fingertip_max_gap": 0.09053741115960803,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013042147341006666,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.157163379911467,
+            "object_top_z": 1.202537008986596,
+            "finger_top_clearance": 0.04537362907512921,
+            "fingertip_min_top_clearance": 0.013612088722538761,
+            "object_projection_between_fingers": 0.8366599453801574,
+            "object_to_finger_line_xy": 0.009642728414037339,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04776870557980402,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5389579808494623,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3019444705929239,
+              -0.337327474706958,
+              0.8470195685314599
+            ],
+            "target_position": [
+              0.2944575141753182,
+              -0.3382353545687493,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007541800994628115,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18589348851347748,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195685314599,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563002060526822,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538812137485372,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007809579372406006,
+            "max_z_decrease": 0.007809579372406006,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518006948002513,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007809579372406006,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021032384759732015,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007809579372406006,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007809601109879517,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15015743672847742,
+              -0.3944967985153198,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15015743672847742,
+              -0.3944967985153198,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14854142931650124,
+              -0.39339057822047535,
+              0.806750865497509
+            ],
+            "closest_button": [
+              0.1501429677009582,
+              -0.3944949209690094,
+              0.7716246247291565
+            ],
+            "closest_ee_minus_button": [
+              -0.001601538384456952,
+              0.0011043427485340485,
+              0.03512624076835247
+            ],
+            "button_min_z_position": [
+              0.15013903379440302,
+              -0.3944958746433258,
+              0.7689992785453796
+            ],
+            "min_active_finger_to_button": 0.14691976434869372,
+            "closest_active_finger": [
+              0.022179365158081055,
+              -0.4580608010292053,
+              0.8106226325035095
+            ],
+            "closest_active_finger_button": [
+              0.15015736222267145,
+              -0.3944985568523407,
+              0.7764628529548645
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1279779970645904,
+              -0.06356224417686462,
+              0.03415977954864502
+            ],
+            "min_contact_pad_to_button": 0.021032384759732015,
+            "closest_contact_pad": [
+              0.15013903379440302,
+              -0.3944958746433258,
+              0.7900316633051117
+            ],
+            "closest_contact_pad_button": [
+              0.15013903379440302,
+              -0.3944958746433258,
+              0.7689992785453796
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021032384759732015
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24c83d45178617abc6a47f34f5876ec4ddd5a40b383b12a0d476c669f05158ac",
+    "visual_seed": 3753268455693673572,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..578c871b331326fcff9eacca5af7c16adde654d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_48_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2194698745505845,
+              0.3025947529062259,
+              1.1577009644334852
+            ],
+            "current_z": 1.1577009644334852,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3011144570249197,
+            "gripper_z": 1.1509439088782396,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21493613217059251,
+              0.29777657321390105,
+              1.1509439088782396
+            ],
+            "object_minus_gripper": [
+              0.00453374237999199,
+              0.004818179692324842,
+              0.006757055555245639
+            ],
+            "object_to_gripper_xy": 0.006615865439658438,
+            "object_to_gripper_z": 0.006757055555245639,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2194698745505845,
+              0.2786281783698095,
+              1.1577009644334852
+            ],
+            "finger_b": [
+              0.20887582757667034,
+              0.3025947529062259,
+              1.1577009644334852
+            ],
+            "finger_midpoint": [
+              0.21417285106362743,
+              0.2906114656380177,
+              1.1577009644334852
+            ],
+            "object_minus_finger_midpoint": [
+              0.00529702348695707,
+              0.011983287268208187,
+              0.0
+            ],
+            "finger_gap": 0.026203635745733866,
+            "fingertip_max_gap": 0.09050881803412089,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013101817872866928,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1577009644334852,
+            "object_top_z": 1.2031847275453742,
+            "finger_top_clearance": 0.04548376311188895,
+            "fingertip_min_top_clearance": 0.013645128933566685,
+            "object_projection_between_fingers": 0.8365440699365821,
+            "object_to_finger_line_xy": 0.009689610209298826,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04775440901706045,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6785151476791927,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.309296663427559,
+              -0.33640243132723263,
+              0.8470195153163704
+            ],
+            "target_position": [
+              0.30133836948935494,
+              -0.33784265334573865,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008087563407445118,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18686846304469204,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195153163704,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517901178494858,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646765161964608,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1560430824890717,
+            "release_required_pad_clearance": 0.05323382580982304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4888205654230866,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007672131061553955,
+            "max_z_decrease": 0.007672131061553955,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519565537435658,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007672131061553955,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021166711540758755,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007672131061553955,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007672155141960863,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15703830122947693,
+              -0.3941041231155395,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15703830122947693,
+              -0.3941041231155395,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15906619603196143,
+              -0.39457408245129466,
+              0.808183614149346
+            ],
+            "closest_button": [
+              0.15703393518924713,
+              -0.3941125571727752,
+              0.7730497121810913
+            ],
+            "closest_ee_minus_button": [
+              0.002032260842714295,
+              -0.0004615252785194479,
+              0.03513390196825472
+            ],
+            "button_min_z_position": [
+              0.15701921284198764,
+              -0.394106388092041,
+              0.7691367268562317
+            ],
+            "min_active_finger_to_button": 0.1441692575599783,
+            "closest_active_finger": [
+              0.018110565841197968,
+              -0.37653839588165283,
+              0.810647189617157
+            ],
+            "closest_active_finger_button": [
+              0.15703989565372467,
+              -0.3941068053245544,
+              0.7763723134994507
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1389293298125267,
+              0.017568409442901556,
+              0.0342748761177063
+            ],
+            "min_contact_pad_to_button": 0.021166711540758755,
+            "closest_contact_pad": [
+              0.15701921284198764,
+              -0.3959384781462855,
+              0.7902240008261603
+            ],
+            "closest_contact_pad_button": [
+              0.15701921284198764,
+              -0.394106388092041,
+              0.7691367268562317
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018320900542445062,
+              0.0210872739699286
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba5bf4f18537d3a22c2c0ac6da89f85a1cdcf320fc8f170ef963ded8799d406a",
+    "visual_seed": 7126065109342347122,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..713333132a4b36d7787a10501f384f44519082d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_49_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22113707723185333,
+              0.3051886605648065,
+              1.155508460518681
+            ],
+            "current_z": 1.155508460518681,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.29892183390082583,
+            "gripper_z": 1.1486921878873548,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21680490617589926,
+              0.3003254812140162,
+              1.1486921878873548
+            ],
+            "object_minus_gripper": [
+              0.0043321710559540705,
+              0.004863179350790281,
+              0.006816272631326115
+            ],
+            "object_to_gripper_xy": 0.006512927103537946,
+            "object_to_gripper_z": 0.006816272631326115,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22113707723185333,
+              0.2814690524710406,
+              1.155508460518681
+            ],
+            "finger_b": [
+              0.21033390408337913,
+              0.3051886605648065,
+              1.155508460518681
+            ],
+            "finger_midpoint": [
+              0.2157354906576162,
+              0.2933288565179235,
+              1.155508460518681
+            ],
+            "object_minus_finger_midpoint": [
+              0.005401586574237116,
+              0.011859804046882971,
+              0.0
+            ],
+            "finger_gap": 0.02606392829559194,
+            "fingertip_max_gap": 0.0906777295881096,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013031964147796001,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.155508460518681,
+            "object_top_z": 1.201040406920061,
+            "finger_top_clearance": 0.04553194640138014,
+            "fingertip_min_top_clearance": 0.013659583920414008,
+            "object_projection_between_fingers": 0.8282000910641519,
+            "object_to_finger_line_xy": 0.009831481668641673,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478388647940548,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7714755109364343,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30336447632681984,
+              -0.3373741035146995,
+              0.8470198453255942
+            ],
+            "target_position": [
+              0.2957071087621637,
+              -0.338453635900076,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007733089175182475,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18616695043458864,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198453255942,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523936570788006,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865449413334227,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15505455737062396,
+            "release_required_pad_clearance": 0.053272470666711355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5626913794741388,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007604062557220459,
+            "max_z_decrease": 0.007604062557220459,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351342044060061,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007604062557220459,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021057224909502934,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007604062557220459,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007604085883780118,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15140703320503235,
+              -0.39471510052680964,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15140703320503235,
+              -0.39471510052680964,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15109213417009631,
+              -0.3944385321247437,
+              0.8081973348984655
+            ],
+            "closest_button": [
+              0.15139584243297577,
+              -0.3947195410728454,
+              0.7730655670166016
+            ],
+            "closest_ee_minus_button": [
+              -0.00030370826287945407,
+              0.00028100894810167976,
+              0.035131767881863896
+            ],
+            "button_min_z_position": [
+              0.15138821303844452,
+              -0.39471435546875,
+              0.7692047953605652
+            ],
+            "min_active_finger_to_button": 0.14627483888947454,
+            "closest_active_finger": [
+              0.02469756454229355,
+              -0.4593326151371002,
+              0.810480535030365
+            ],
+            "closest_active_finger_button": [
+              0.15140686929225922,
+              -0.3947162628173828,
+              0.7763366103172302
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12670930474996567,
+              -0.06461635231971741,
+              0.034143924713134766
+            ],
+            "min_contact_pad_to_button": 0.021057224909502934,
+            "closest_contact_pad": [
+              0.15138821303844452,
+              -0.3953769469217051,
+              0.7902515930613049
+            ],
+            "closest_contact_pad_button": [
+              0.15138821303844452,
+              -0.39471435546875,
+              0.7692047953605652
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000662591452955108,
+              0.021046797700739694
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "57dff15fb396b94f7e9b03d0cfb4d67c8bb35a8ac5db3157df159d9f4d277fc2",
+    "visual_seed": 7990579879139204663,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e13437d187dd97bfc924026a6c2a6d4efdce10dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_4_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2228783076051074,
+              0.3067894233868689,
+              1.1574838871409985
+            ],
+            "current_z": 1.1574838871409985,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.3008974393370776,
+            "gripper_z": 1.1504941819575103,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2184721171998817,
+              0.3021861008376066,
+              1.1504941819575103
+            ],
+            "object_minus_gripper": [
+              0.004406190405225718,
+              0.004603322549262268,
+              0.006989705183488182
+            ],
+            "object_to_gripper_xy": 0.006372212518399684,
+            "object_to_gripper_z": 0.006989705183488182,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2228783076051074,
+              0.28277759561651766,
+              1.1574838871409985
+            ],
+            "finger_b": [
+              0.2127860418131337,
+              0.3067894233868689,
+              1.1574838871409985
+            ],
+            "finger_midpoint": [
+              0.21783217470912056,
+              0.2947835095016933,
+              1.1574838871409985
+            ],
+            "object_minus_finger_midpoint": [
+              0.005046132895986849,
+              0.012005913885175579,
+              0.0
+            ],
+            "finger_gap": 0.026046529551724394,
+            "fingertip_max_gap": 0.09068124620198836,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013023264775862171,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1574838871409985,
+            "object_top_z": 1.2029327950675128,
+            "finger_top_clearance": 0.04544890792651435,
+            "fingertip_min_top_clearance": 0.013634672377954304,
+            "object_projection_between_fingers": 0.8498664937128497,
+            "object_to_finger_line_xy": 0.009303878565789047,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047840623100994184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6229662350254782,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.302161012743282,
+              -0.3340464432748225,
+              0.8470195409821667
+            ],
+            "target_position": [
+              0.2944213672137861,
+              -0.335103766356497,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0078115328214946175,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18689784268155757,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195409821667,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564252264843814,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572630471025876,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15463817321031936,
+            "release_required_pad_clearance": 0.05286315235512938,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7682085580039477,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007771790027618408,
+            "max_z_decrease": 0.007771790027618408,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515195865406917,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007771790027618408,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021142375581501723,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007771790027618408,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007771816459309391,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1501212865114212,
+              -0.3913652300834655,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1501212865114212,
+              -0.3913652300834655,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14942480808154412,
+              -0.3922832503806724,
+              0.8078329319878359
+            ],
+            "closest_button": [
+              0.15010900795459747,
+              -0.391370952129364,
+              0.7726994752883911
+            ],
+            "closest_ee_minus_button": [
+              -0.0006841998730533483,
+              -0.0009122982513083966,
+              0.03513345669944479
+            ],
+            "button_min_z_position": [
+              0.15010102093219757,
+              -0.3913656175136566,
+              0.7690370678901672
+            ],
+            "min_active_finger_to_button": 0.1466923564513816,
+            "closest_active_finger": [
+              0.008336007595062256,
+              -0.37560710310935974,
+              0.8106421232223511
+            ],
+            "closest_active_finger_button": [
+              0.15012088418006897,
+              -0.39136698842048645,
+              0.7764760255813599
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1417848765850067,
+              0.01575988531112671,
+              0.03416609764099121
+            ],
+            "min_contact_pad_to_button": 0.021142375581501723,
+            "closest_contact_pad": [
+              0.15010102093219757,
+              -0.3935064251969887,
+              0.7900707786348805
+            ],
+            "closest_contact_pad_button": [
+              0.15010102093219757,
+              -0.3913656175136566,
+              0.7690370678901672
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00214080768333208,
+              0.021033710744713274
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "656cbed54cc3b1c9fe5f2c8aba45c63e236a0360ef709d9c4e75544ba4535098",
+    "visual_seed": 7474510023286692768,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c0a947a6c850babe8de497e75e99eba353066f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_50_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2196889752740877,
+              0.30769714009748705,
+              1.155182079319115
+            ],
+            "current_z": 1.155182079319115,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.29859545270125987,
+            "gripper_z": 1.148175179264473,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21532150858155077,
+              0.3029716978783637,
+              1.148175179264473
+            ],
+            "object_minus_gripper": [
+              0.004367466692536931,
+              0.004725442219123355,
+              0.007006900054641996
+            ],
+            "object_to_gripper_xy": 0.006434638255309535,
+            "object_to_gripper_z": 0.007006900054641996,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2196889752740877,
+              0.28379124964545654,
+              1.155182079319115
+            ],
+            "finger_b": [
+              0.20931065898700374,
+              0.30769714009748705,
+              1.155182079319115
+            ],
+            "finger_midpoint": [
+              0.21449981713054572,
+              0.2957441948714718,
+              1.155182079319115
+            ],
+            "object_minus_finger_midpoint": [
+              0.005189158143541983,
+              0.011952945226015255,
+              0.0
+            ],
+            "finger_gap": 0.026061485898912898,
+            "fingertip_max_gap": 0.09046965741682353,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013030742949456449,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.155182079319115,
+            "object_top_z": 1.2005675189207858,
+            "finger_top_clearance": 0.04538543960167085,
+            "fingertip_min_top_clearance": 0.013615631880501222,
+            "object_projection_between_fingers": 0.8414174280363823,
+            "object_to_finger_line_xy": 0.009519905856400245,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773482870841177,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6102894284671435,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3019087954641085,
+              -0.33454119919995245,
+              0.847017630239076
+            ],
+            "target_position": [
+              0.2943631072208964,
+              -0.3354589637845035,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007601296132660852,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18735323940711482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847017630239076,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557050039377135,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862476125312203,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15546310110718362,
+            "release_required_pad_clearance": 0.053123806265610155,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2666853677843577,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007674038410186768,
+            "max_z_decrease": 0.007674038410186768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516384386865175,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007674038410186768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021054597782898754,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007674038410186768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007674061674661609,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15006303787231443,
+              -0.391720414161682,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15006303787231443,
+              -0.391720414161682,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14939273958306043,
+              -0.3904366904233967,
+              0.8079405937457196
+            ],
+            "closest_button": [
+              0.15005007386207578,
+              -0.39172551035881037,
+              0.7728065252304077
+            ],
+            "closest_ee_minus_button": [
+              -0.000657334279015348,
+              0.0012888199354136876,
+              0.03513406851531187
+            ],
+            "button_min_z_position": [
+              0.15004414319992063,
+              -0.39172017574310297,
+              0.7691348195075989
+            ],
+            "min_active_finger_to_button": 0.14613243750839744,
+            "closest_active_finger": [
+              0.02245207130908966,
+              -0.454220175743103,
+              0.810716450214386
+            ],
+            "closest_active_finger_button": [
+              0.15006323158740997,
+              -0.3917213082313537,
+              0.7765994071960449
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276111602783203,
+              -0.06249886751174932,
+              0.034117043018341064
+            ],
+            "min_contact_pad_to_button": 0.021054597782898754,
+            "closest_contact_pad": [
+              0.15004414319992063,
+              -0.39172017574310297,
+              0.7901894172904976
+            ],
+            "closest_contact_pad_button": [
+              0.15004414319992063,
+              -0.39172017574310297,
+              0.7691348195075989
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021054597782898754
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "32af59940533845e8147cd5747a9f11acef0f12d607755baaa51ce55ac7b2cdc",
+    "visual_seed": 2617534399039303782,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6950b82481a23e9d4bc116639dbb04ff486d7788
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_51_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22685254567818838,
+              0.29917235958728217,
+              1.1559656843236008
+            ],
+            "current_z": 1.1559656843236008,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.2993790577057457,
+            "gripper_z": 1.1489284721517743,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22230909455433032,
+              0.2944046285497799,
+              1.1489284721517743
+            ],
+            "object_minus_gripper": [
+              0.004543451123858067,
+              0.004767731037502276,
+              0.007037212171826512
+            ],
+            "object_to_gripper_xy": 0.00658590975954345,
+            "object_to_gripper_z": 0.007037212171826512,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22685254567818838,
+              0.275415166427868,
+              1.1559656843236008
+            ],
+            "finger_b": [
+              0.2160327326582192,
+              0.29917235958728217,
+              1.1559656843236008
+            ],
+            "finger_midpoint": [
+              0.22144263916820378,
+              0.2872937630075751,
+              1.1559656843236008
+            ],
+            "object_minus_finger_midpoint": [
+              0.005409906509984602,
+              0.01187859657970708,
+              0.0
+            ],
+            "finger_gap": 0.026105029795056918,
+            "fingertip_max_gap": 0.09043980047097988,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013052514897528464,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1559656843236008,
+            "object_top_z": 1.2012940278935078,
+            "finger_top_clearance": 0.045328343569907004,
+            "fingertip_min_top_clearance": 0.013598503070972068,
+            "object_projection_between_fingers": 0.8282126719113436,
+            "object_to_finger_line_xy": 0.009846699654517345,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04771990023548994,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19881730872443978,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3048415639260551,
+              -0.33477123452599067,
+              0.8470195179503007
+            ],
+            "target_position": [
+              0.29692277537260997,
+              -0.3360651510015281,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00802380408533514,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18870200989883307,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195179503007,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561193492479594,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512726516637535,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15667629500689648,
+            "release_required_pad_clearance": 0.05256363258318768,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.19382658598656277,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007556617259979248,
+            "max_z_decrease": 0.007556617259979248,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516609032628071,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007556617259979248,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021054070402351632,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007556617259979248,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007556639842484925,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15262269973754883,
+              -0.3923266232013702,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15262269973754883,
+              -0.3923266232013702,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15338424634986267,
+              -0.39126908411919176,
+              0.8082246803955893
+            ],
+            "closest_button": [
+              0.15261121094226837,
+              -0.3923317193984985,
+              0.7730831503868103
+            ],
+            "closest_ee_minus_button": [
+              0.0007730354075942969,
+              0.0010626352793067229,
+              0.035141530008778954
+            ],
+            "button_min_z_position": [
+              0.15260423719882965,
+              -0.39232727885246277,
+              0.7692522406578064
+            ],
+            "min_active_finger_to_button": 0.14498939923867413,
+            "closest_active_finger": [
+              0.026806466281414032,
+              -0.4557979106903076,
+              0.8104753494262695
+            ],
+            "closest_active_finger_button": [
+              0.15262223780155182,
+              -0.3923279941082,
+              0.7763595581054688
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258157715201378,
+              -0.0634699165821076,
+              0.03411579132080078
+            ],
+            "min_contact_pad_to_button": 0.021054070402351632,
+            "closest_contact_pad": [
+              0.15260423719882965,
+              -0.39232727885246277,
+              0.790306311060158
+            ],
+            "closest_contact_pad_button": [
+              0.15260423719882965,
+              -0.39232727885246277,
+              0.7692522406578064
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021054070402351632
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b0968513ad5070ebaf7f6438f693231585cfa773693d282cb3a1e371d7215683",
+    "visual_seed": 4250679004995667109,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f392ade7025d4528c11ad08a7eca1121eb4c58df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_52_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22053650778429418,
+              0.3084111075657938,
+              1.1576384149333974
+            ],
+            "current_z": 1.1576384149333974,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3010519075248318,
+            "gripper_z": 1.1506561884141997,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21627264382186043,
+              0.30360968831939755,
+              1.1506561884141997
+            ],
+            "object_minus_gripper": [
+              0.00426386396243375,
+              0.004801419246396266,
+              0.006982226519197665
+            ],
+            "object_to_gripper_xy": 0.006421383236484623,
+            "object_to_gripper_z": 0.006982226519197665,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22053650778429418,
+              0.284735249570751,
+              1.1576384149333974
+            ],
+            "finger_b": [
+              0.20983377263465683,
+              0.3084111075657938,
+              1.1576384149333974
+            ],
+            "finger_midpoint": [
+              0.2151851402094755,
+              0.2965731785682724,
+              1.1576384149333974
+            ],
+            "object_minus_finger_midpoint": [
+              0.005351367574818688,
+              0.011837928997521396,
+              0.0
+            ],
+            "finger_gap": 0.025982586312465403,
+            "fingertip_max_gap": 0.09053274891910051,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012991293156232707,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1576384149333974,
+            "object_top_z": 1.2031073119906623,
+            "finger_top_clearance": 0.04546889705726498,
+            "fingertip_min_top_clearance": 0.013640669117179493,
+            "object_projection_between_fingers": 0.8303222878799584,
+            "object_to_finger_line_xy": 0.009752548669098332,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04776637445955026,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6475329663387551,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30908411594020974,
+              -0.3339477510184655,
+              0.8470197130347474
+            ],
+            "target_position": [
+              0.3018499413743326,
+              -0.3350467540157752,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007317177682527581,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18531468167514883,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197130347474,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579862016319036,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504859068660879,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15287408451055795,
+            "release_required_pad_clearance": 0.0525242953433044,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11869400578258853,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007901608943939209,
+            "max_z_decrease": 0.007901608943939209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035170760236012316,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007901608943939209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02122496492313389,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007901608943939209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007901632617932924,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1575498729944229,
+              -0.39130821824073786,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1575498729944229,
+              -0.39130821824073786,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1579596674248982,
+              -0.39278951340382123,
+              0.807866137784106
+            ],
+            "closest_button": [
+              0.15753884613513947,
+              -0.39131546020507807,
+              0.7727288007736206
+            ],
+            "closest_ee_minus_button": [
+              0.0004208212897587327,
+              -0.0014740531987431638,
+              0.03513733701048538
+            ],
+            "button_min_z_position": [
+              0.1575305461883545,
+              -0.39130899310111994,
+              0.7689072489738464
+            ],
+            "min_active_finger_to_button": 0.14558064116476457,
+            "closest_active_finger": [
+              0.016800187528133392,
+              -0.3766668140888214,
+              0.8107454180717468
+            ],
+            "closest_active_finger_button": [
+              0.15755029022693634,
+              -0.39131018519401545,
+              0.7765591144561768
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14075010269880295,
+              0.014643371105194036,
+              0.03418630361557007
+            ],
+            "min_contact_pad_to_button": 0.02122496492313389,
+            "closest_contact_pad": [
+              0.1575305461883545,
+              -0.39399004540078814,
+              0.7899622031308782
+            ],
+            "closest_contact_pad_button": [
+              0.1575305461883545,
+              -0.39130899310111994,
+              0.7689072489738464
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026810522996681962,
+              0.021054954157031736
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "886ddcfe6faa9cadf215f3e48c18b05f91470f404ff1c325e64e74c826c842bb",
+    "visual_seed": 6984554582340147566,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..273a0a77775ccce4eba168894be36f031568761e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_53_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2250341129379501,
+              0.30480820117305174,
+              1.1555123342350688
+            ],
+            "current_z": 1.1555123342350688,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.2989257672218585,
+            "gripper_z": 1.1485148050190201,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22051553566005114,
+              0.30004020015803334,
+              1.1485148050190201
+            ],
+            "object_minus_gripper": [
+              0.00451857727789895,
+              0.004768001015018397,
+              0.006997529216048681
+            ],
+            "object_to_gripper_xy": 0.006568970565892432,
+            "object_to_gripper_z": 0.006997529216048681,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2250341129379501,
+              0.2810572353969392,
+              1.1555123342350688
+            ],
+            "finger_b": [
+              0.21422544945275307,
+              0.30480820117305174,
+              1.1555123342350688
+            ],
+            "finger_midpoint": [
+              0.2196297811953516,
+              0.29293271828499545,
+              1.1555123342350688
+            ],
+            "object_minus_finger_midpoint": [
+              0.005404331742598495,
+              0.011875482888056288,
+              0.0
+            ],
+            "finger_gap": 0.02609474241364148,
+            "fingertip_max_gap": 0.09074888156492536,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013047371206820759,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1555123342350688,
+            "object_top_z": 1.2009307152417026,
+            "finger_top_clearance": 0.04541838100663376,
+            "fingertip_min_top_clearance": 0.013625514301990127,
+            "object_projection_between_fingers": 0.8284313384595989,
+            "object_to_finger_line_xy": 0.009837851336222758,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787444078246268,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22099891761919305,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3059913442322215,
+              -0.3290029780545597,
+              0.8470195609450206
+            ],
+            "target_position": [
+              0.2975823082576342,
+              -0.33055397733552055,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008550876258690956,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18718312138568935,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195609450206,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524420583056145,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596740584873995,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15612302093768937,
+            "release_required_pad_clearance": 0.05298370292436998,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0017009262242917,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007476866245269775,
+            "max_z_decrease": 0.007476866245269775,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035233951614431325,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007476866245269775,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021120450829839797,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007476866245269775,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007476888526728813,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1532822400331497,
+              -0.3868154287338257,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1532822400331497,
+              -0.3868154287338257,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15578888028270924,
+              -0.3868074302778703,
+              0.8082015145865244
+            ],
+            "closest_button": [
+              0.15327361226081845,
+              -0.3868234157562256,
+              0.7730574607849121
+            ],
+            "closest_ee_minus_button": [
+              0.002515268021890782,
+              1.5985478355295957e-05,
+              0.03514405380161234
+            ],
+            "button_min_z_position": [
+              0.15326413512229917,
+              -0.3868177533149719,
+              0.7693319916725159
+            ],
+            "min_active_finger_to_button": 0.1437392182732396,
+            "closest_active_finger": [
+              0.014764249324798584,
+              -0.36940157413482666,
+              0.8105475902557373
+            ],
+            "closest_active_finger_button": [
+              0.15328311920166016,
+              -0.38681855797767645,
+              0.7763403654098511
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13851886987686157,
+              0.017416983842849787,
+              0.03420722484588623
+            ],
+            "min_contact_pad_to_button": 0.021120450829839797,
+            "closest_contact_pad": [
+              0.15326413512229917,
+              -0.3881072602463224,
+              0.7904130403923894
+            ],
+            "closest_contact_pad_button": [
+              0.15326413512229917,
+              -0.3868177533149719,
+              0.7693319916725159
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012895069313504925,
+              0.021081048719873485
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e035d764840a16d1f62f7c511057e9f1e89072d38d3c4413a6901d36bd6433ff",
+    "visual_seed": 2830687961087350768,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0534b0bfd45c78d7b870ae9f9c70e14a54da3a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_54_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22094820974470966,
+              0.3073219714587431,
+              1.1571430902427842
+            ],
+            "current_z": 1.1571430902427842,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.30055646362492905,
+            "gripper_z": 1.1502299459239742,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21654022467826026,
+              0.3026150111099886,
+              1.1502299459239742
+            ],
+            "object_minus_gripper": [
+              0.004407985066449405,
+              0.0047069603487545075,
+              0.006913144318809961
+            ],
+            "object_to_gripper_xy": 0.006448705922182226,
+            "object_to_gripper_z": 0.006913144318809961,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22094820974470966,
+              0.2832961281695763,
+              1.1571430902427842
+            ],
+            "finger_b": [
+              0.21070729623291945,
+              0.3073219714587431,
+              1.1571430902427842
+            ],
+            "finger_midpoint": [
+              0.21582775298881457,
+              0.29530904981415973,
+              1.1571430902427842
+            ],
+            "object_minus_finger_midpoint": [
+              0.005120456755895092,
+              0.012012921644583396,
+              0.0
+            ],
+            "finger_gap": 0.026117378415751666,
+            "fingertip_max_gap": 0.09046609929953964,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013058689207875802,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1571430902427842,
+            "object_top_z": 1.202614588618391,
+            "finger_top_clearance": 0.04547149837560682,
+            "fingertip_min_top_clearance": 0.013641449512682013,
+            "object_projection_between_fingers": 0.8462488993071392,
+            "object_to_finger_line_xy": 0.009420799410088956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773304964976982,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6669588937957318,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3074158403259638,
+              -0.3378595314362207,
+              0.8470195676031972
+            ],
+            "target_position": [
+              0.30011756985779225,
+              -0.33884796567660785,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007364900140134604,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18711720414296298,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195676031972,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578452767829001,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602947336662457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15462673584960376,
+            "release_required_pad_clearance": 0.05301473668331229,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.061635598621518,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00763779878616333,
+            "max_z_decrease": 0.00763779878616333,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518041089849807,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00763779878616333,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115444121727157,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00763779878616333,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076378215270846055,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15581749379634857,
+              -0.39510941505432123,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15581749379634857,
+              -0.39510941505432123,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1574459610796161,
+              -0.39559017875888886,
+              0.8082222286356242
+            ],
+            "closest_button": [
+              0.1558106541633606,
+              -0.39511701464653004,
+              0.7730830311775208
+            ],
+            "closest_ee_minus_button": [
+              0.0016353069162554912,
+              -0.00047316411235881484,
+              0.035139197458103455
+            ],
+            "button_min_z_position": [
+              0.1557989865541458,
+              -0.39511162042617787,
+              0.7691710591316223
+            ],
+            "min_active_finger_to_button": 0.14453657284906976,
+            "closest_active_finger": [
+              0.016480691730976105,
+              -0.37768566608428955,
+              0.8106393814086914
+            ],
+            "closest_active_finger_button": [
+              0.15581902861595154,
+              -0.39511263370513905,
+              0.7764056324958801
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13933833688497543,
+              0.0174269676208495,
+              0.03423374891281128
+            ],
+            "min_contact_pad_to_button": 0.02115444121727157,
+            "closest_contact_pad": [
+              0.1557989865541458,
+              -0.3969218492817625,
+              0.7902479055443428
+            ],
+            "closest_contact_pad_button": [
+              0.1557989865541458,
+              -0.39511162042617787,
+              0.7691710591316223
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001810228855584628,
+              0.02107684641272045
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9eef8f0c81fa32b469297c771868e44f18c9a1dad62c4607af066b790290adf6",
+    "visual_seed": 6144441816889226571,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ab174437a9266c6ed52d0d656f9f8019defc71
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_55_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2194300721082303,
+              0.30819627903708174,
+              1.155266851595881
+            ],
+            "current_z": 1.155266851595881,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.29868022497802593,
+            "gripper_z": 1.1483421016549762,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2150458982226648,
+              0.30351859256853875,
+              1.1483421016549762
+            ],
+            "object_minus_gripper": [
+              0.004384173885565501,
+              0.004677686468542996,
+              0.006924749940904862
+            ],
+            "object_to_gripper_xy": 0.006411063200192676,
+            "object_to_gripper_z": 0.006924749940904862,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2194300721082303,
+              0.28406377141513833,
+              1.155266851595881
+            ],
+            "finger_b": [
+              0.20939080755078573,
+              0.30819627903708174,
+              1.155266851595881
+            ],
+            "finger_midpoint": [
+              0.21441043982950803,
+              0.29613002522611004,
+              1.155266851595881
+            ],
+            "object_minus_finger_midpoint": [
+              0.005019632278722264,
+              0.012066253810971705,
+              0.0
+            ],
+            "finger_gap": 0.026137420625943934,
+            "fingertip_max_gap": 0.09069965783868528,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01306871031297196,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.155266851595881,
+            "object_top_z": 1.2007988419192974,
+            "finger_top_clearance": 0.04553199032341637,
+            "fingertip_min_top_clearance": 0.013659597097024911,
+            "object_projection_between_fingers": 0.852470678815068,
+            "object_to_finger_line_xy": 0.009269186578064918,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784982891934264,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7886301533043404,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30798852233701013,
+              -0.32871268253954844,
+              0.8470195324115855
+            ],
+            "target_position": [
+              0.2967511593959669,
+              -0.3306681988050071,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.011406242577343547,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19017878750580297,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195324115855,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755112914551841,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09290820697025602,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15820121637573456,
+            "release_required_pad_clearance": 0.05645410348512801,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.259629852700959,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007834851741790771,
+            "max_z_decrease": 0.007834851741790771,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518765396487219,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007834851741790771,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021222742919127624,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007834851741790771,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00783487511806801,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15245108306407928,
+              -0.3869296610355376,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15245108306407928,
+              -0.3869296610355376,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15373655200799088,
+              -0.38829709630010256,
+              0.8077722722219015
+            ],
+            "closest_button": [
+              0.1524389684200287,
+              -0.38693702220916737,
+              0.7726348638534546
+            ],
+            "closest_ee_minus_button": [
+              0.0012975835879621977,
+              -0.0013600740909351927,
+              0.03513740836844692
+            ],
+            "button_min_z_position": [
+              0.15243203938007355,
+              -0.3869315683841704,
+              0.7689740061759949
+            ],
+            "min_active_finger_to_button": 0.14474097764805935,
+            "closest_active_finger": [
+              0.012658260762691498,
+              -0.3714563250541687,
+              0.810585618019104
+            ],
+            "closest_active_finger_button": [
+              0.15245167911052704,
+              -0.3869321048259734,
+              0.776405930519104
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13979341834783554,
+              0.015475779771804699,
+              0.0341796875
+            ],
+            "min_contact_pad_to_button": 0.021222742919127624,
+            "closest_contact_pad": [
+              0.15243203938007355,
+              -0.3895201178072492,
+              0.7900382941747776
+            ],
+            "closest_contact_pad_button": [
+              0.15243203938007355,
+              -0.3869315683841704,
+              0.7689740061759949
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025885494230787898,
+              0.021064287998782683
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1039fa510e6ea8605e0d77d1aa5d158f413a65e8cad84c76cfa79c3ce8cb916a",
+    "visual_seed": 3485019992418065914,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de00726822ef4a94da840c1efd498962df89761
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_56_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22188534851414068,
+              0.3039157489561336,
+              1.1561055610955735
+            ],
+            "current_z": 1.1561055610955735,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.29951905368700793,
+            "gripper_z": 1.1492596278077962,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21740424818220125,
+              0.2992150330400686,
+              1.1492596278077962
+            ],
+            "object_minus_gripper": [
+              0.004481100331939436,
+              0.004700715916065024,
+              0.006845933287777273
+            ],
+            "object_to_gripper_xy": 0.006494381441558138,
+            "object_to_gripper_z": 0.006845933287777273,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22188534851414068,
+              0.27985271505365683,
+              1.1561055610955735
+            ],
+            "finger_b": [
+              0.21164014287801214,
+              0.3039157489561336,
+              1.1561055610955735
+            ],
+            "finger_midpoint": [
+              0.2167627456960764,
+              0.2918842320048952,
+              1.1561055610955735
+            ],
+            "object_minus_finger_midpoint": [
+              0.005122602818064287,
+              0.012031516951238386,
+              0.0
+            ],
+            "finger_gap": 0.026153275877379235,
+            "fingertip_max_gap": 0.09045956006083403,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013076637938689623,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1561055610955735,
+            "object_top_z": 1.2015688665315467,
+            "finger_top_clearance": 0.04546330543597321,
+            "fingertip_min_top_clearance": 0.013638991630791963,
+            "object_projection_between_fingers": 0.8465421287100146,
+            "object_to_finger_line_xy": 0.009426380531290893,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047729780030417016,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6087830152251302,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3032469609227211,
+              -0.3294004562386298,
+              0.8470193296945914
+            ],
+            "target_position": [
+              0.29496252466292494,
+              -0.3307477022232898,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008393268486460296,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18522772345703875,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193296945914,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526733431063427,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655413198896021,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15411856469976887,
+            "release_required_pad_clearance": 0.05327706599448011,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5726772468393133,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076825618743896484,
+            "max_z_decrease": 0.0076825618743896484,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517819603510029,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076825618743896484,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02123016252453167,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076825618743896484,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007682588140687666,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15066245198249814,
+              -0.38700917363166804,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15066245198249814,
+              -0.38700917363166804,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15119456522141744,
+              -0.3887806076958018,
+              0.8079283312323554
+            ],
+            "closest_button": [
+              0.15064959228038785,
+              -0.38701462745666504,
+              0.7727987170219421
+            ],
+            "closest_ee_minus_button": [
+              0.0005449729410295923,
+              -0.0017659802391367663,
+              0.035129614210413274
+            ],
+            "button_min_z_position": [
+              0.15064236521720883,
+              -0.38700884580612177,
+              0.769126296043396
+            ],
+            "min_active_finger_to_button": 0.14545327802973534,
+            "closest_active_finger": [
+              0.009844064712524414,
+              -0.37446776032447815,
+              0.8107890486717224
+            ],
+            "closest_active_finger_button": [
+              0.15066251158714292,
+              -0.38701060414314264,
+              0.7765911221504211
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1408184468746185,
+              0.012542843818664495,
+              0.03419792652130127
+            ],
+            "min_contact_pad_to_button": 0.02123016252453167,
+            "closest_contact_pad": [
+              0.15064236521720883,
+              -0.38977520569660723,
+              0.7901754540734537
+            ],
+            "closest_contact_pad_button": [
+              0.15064236521720883,
+              -0.38700884580612177,
+              0.769126296043396
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002766359890485459,
+              0.02104915803005769
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "547ab5cab697c36bd8ea1378a829c03d2bf04c2570c1f6ed90fabaaea8ba4cff",
+    "visual_seed": 487821233287067931,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8efd1fdad9ff3da397e066546c806a5858e1a14
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_57_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22461416013290764,
+              0.3003716184494733,
+              1.1579607534034808
+            ],
+            "current_z": 1.1579607534034808,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30137430559956,
+            "gripper_z": 1.1511713917403625,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22014231066373968,
+              0.2955900433067437,
+              1.1511713917403625
+            ],
+            "object_minus_gripper": [
+              0.0044718494691679544,
+              0.004781575142729588,
+              0.006789361663118276
+            ],
+            "object_to_gripper_xy": 0.006546823544320344,
+            "object_to_gripper_z": 0.006789361663118276,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22461416013290764,
+              0.2763799296698606,
+              1.1579607534034808
+            ],
+            "finger_b": [
+              0.21416062550740148,
+              0.3003716184494733,
+              1.1579607534034808
+            ],
+            "finger_midpoint": [
+              0.21938739282015457,
+              0.28837577405966697,
+              1.1579607534034808
+            ],
+            "object_minus_finger_midpoint": [
+              0.005226767312753067,
+              0.011995844389806332,
+              0.0
+            ],
+            "finger_gap": 0.026170164628149573,
+            "fingertip_max_gap": 0.09046914181129914,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013085082314074755,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1579607534034808,
+            "object_top_z": 1.203416260058948,
+            "finger_top_clearance": 0.04545550665546716,
+            "fingertip_min_top_clearance": 0.013636651996640181,
+            "object_projection_between_fingers": 0.84044389908014,
+            "object_to_finger_line_xy": 0.009583353904938054,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773457090564957,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6650627597405514,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30309312467698707,
+              -0.333049786195124,
+              0.8470194605090141
+            ],
+            "target_position": [
+              0.2950500341513054,
+              -0.3343104356519269,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008141286277809433,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18884322978560394,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194605090141,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515173732995505,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633138266101929,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15797218333810073,
+            "release_required_pad_clearance": 0.05316569133050965,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3556396379047921,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007484495639801025,
+            "max_z_decrease": 0.007484495639801025,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035230939000224684,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007484495639801025,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021088432622077314,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007484495639801025,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007484516953276445,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15074996650218964,
+              -0.3905718922615051,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15074996650218964,
+              -0.3905718922615051,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15308592751878158,
+              -0.38990056158877867,
+              0.808207205493061
+            ],
+            "closest_button": [
+              0.15074072778224945,
+              -0.39058008790016174,
+              0.7730609774589539
+            ],
+            "closest_ee_minus_button": [
+              0.002345199736532133,
+              0.0006795263113830718,
+              0.03514622803410716
+            ],
+            "button_min_z_position": [
+              0.15073223412036896,
+              -0.39057403802871704,
+              0.7693243622779846
+            ],
+            "min_active_finger_to_button": 0.14379234276919436,
+            "closest_active_finger": [
+              0.02488596737384796,
+              -0.4511525630950928,
+              0.8104700446128845
+            ],
+            "closest_active_finger_button": [
+              0.1507507562637329,
+              -0.3905751705169678,
+              0.7763427495956421
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12586478888988495,
+              -0.060577392578125,
+              0.03412729501724243
+            ],
+            "min_contact_pad_to_button": 0.021088432622077314,
+            "closest_contact_pad": [
+              0.15073223412036896,
+              -0.39124638124091976,
+              0.7904020743231972
+            ],
+            "closest_contact_pad_button": [
+              0.15073223412036896,
+              -0.39057403802871704,
+              0.7693243622779846
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006723432122027195,
+              0.021077712045212582
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9bda9e53a83a28132907a002f127810aa11ab2917d717847761f448ab40b7b1",
+    "visual_seed": 4642136416614364045,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fef890fffa4de6d00d998d077fd4b8df4f8c00c0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_58_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22074229970083317,
+              0.3050455541980968,
+              1.1563258689362088
+            ],
+            "current_z": 1.1563258689362088,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.2997392423183537,
+            "gripper_z": 1.1495174370349048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21623076128561894,
+              0.3003505892704921,
+              1.1495174370349048
+            ],
+            "object_minus_gripper": [
+              0.0045115384152142335,
+              0.004694964927604739,
+              0.00680843190130398
+            ],
+            "object_to_gripper_xy": 0.006511272881963428,
+            "object_to_gripper_z": 0.00680843190130398,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22074229970083317,
+              0.28087209396900004,
+              1.1563258689362088
+            ],
+            "finger_b": [
+              0.21062884883558478,
+              0.3050455541980968,
+              1.1563258689362088
+            ],
+            "finger_midpoint": [
+              0.21568557426820897,
+              0.29295882408354845,
+              1.1563258689362088
+            ],
+            "object_minus_finger_midpoint": [
+              0.005056725432624198,
+              0.01208673011454836,
+              0.0
+            ],
+            "finger_gap": 0.026203779648201843,
+            "fingertip_max_gap": 0.09054117589161906,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013101889824100897,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1563258689362088,
+            "object_top_z": 1.2017321112495791,
+            "finger_top_clearance": 0.045406242313370315,
+            "fingertip_min_top_clearance": 0.013621872694011094,
+            "object_projection_between_fingers": 0.8510395895703359,
+            "object_to_finger_line_xy": 0.009329841173763002,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777058794580953,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6699517308850299,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30059298492974224,
+              -0.3343406821001281,
+              0.8470191590879026
+            ],
+            "target_position": [
+              0.29282631651671553,
+              -0.33529885667098097,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007825550251971795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18765178913501268,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191590879026,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544526575311401,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08519960133496328,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1559958362336975,
+            "release_required_pad_clearance": 0.05259980066748164,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2624422557127685,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007454872131347656,
+            "max_z_decrease": 0.007454872131347656,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035228532434816176,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007454872131347656,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021075616138243734,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007454872131347656,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007454893315599976,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1485262364149093,
+              -0.39156031608581543,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1485262364149093,
+              -0.39156031608581543,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1506664631640958,
+              -0.3906023077462392,
+              0.8082164138387015
+            ],
+            "closest_button": [
+              0.14851611852645868,
+              -0.39156743884086603,
+              0.7730668187141418
+            ],
+            "closest_ee_minus_button": [
+              0.0021503446376371083,
+              0.0009651310946268143,
+              0.03514959512455962
+            ],
+            "button_min_z_position": [
+              0.14850856363773346,
+              -0.3915621936321258,
+              0.769353985786438
+            ],
+            "min_active_finger_to_button": 0.14383362522085333,
+            "closest_active_finger": [
+              0.022457294166088104,
+              -0.4518250524997711,
+              0.810447633266449
+            ],
+            "closest_active_finger_button": [
+              0.14852623641490934,
+              -0.39156338572502136,
+              0.7763409614562988
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12606894224882123,
+              -0.060261666774749756,
+              0.034106671810150146
+            ],
+            "min_contact_pad_to_button": 0.021075616138243734,
+            "closest_contact_pad": [
+              0.14850856363773346,
+              -0.39194170105344783,
+              0.7904261847633782
+            ],
+            "closest_contact_pad_button": [
+              0.14850856363773346,
+              -0.3915621936321258,
+              0.769353985786438
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00037950742132203397,
+              0.021072198976940237
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20441076f974cf8d7392182966cfb610e728534ad01f78a4d87186db6c0b8420",
+    "visual_seed": 324098639977840215,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a11bd843dbea57d0dca38a8b48cfa4f629fb1b07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_59_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22835797408821437,
+              0.30905579407964134,
+              1.1585753388535984
+            ],
+            "current_z": 1.1585753388535984,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.3019887122357432,
+            "gripper_z": 1.1515295461980373,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22376310048149423,
+              0.304258477471614,
+              1.1515295461980373
+            ],
+            "object_minus_gripper": [
+              0.004594873606720146,
+              0.004797316608027347,
+              0.007045792655561156
+            ],
+            "object_to_gripper_xy": 0.006642823955170602,
+            "object_to_gripper_z": 0.007045792655561156,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22835797408821437,
+              0.28531536410249814,
+              1.1585753388535984
+            ],
+            "finger_b": [
+              0.21743399184595488,
+              0.30905579407964134,
+              1.1585753388535984
+            ],
+            "finger_midpoint": [
+              0.22289598296708463,
+              0.29718557909106974,
+              1.1585753388535984
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054619911211297445,
+              0.011870214988571604,
+              0.0
+            ],
+            "finger_gap": 0.026133147600869676,
+            "fingertip_max_gap": 0.09052539884943855,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013066573800434838,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1585753388535984,
+            "object_top_z": 1.203914095123828,
+            "finger_top_clearance": 0.04533875627022965,
+            "fingertip_min_top_clearance": 0.013601626881068895,
+            "object_projection_between_fingers": 0.8252655536586437,
+            "object_to_finger_line_xy": 0.009923796377489821,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04776269942471928,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2437629536861452,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3014016924004025,
+              -0.3363559709826262,
+              0.8470196364932546
+            ],
+            "target_position": [
+              0.2934091638071822,
+              -0.337430838398915,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008064480967554176,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1878519679094171,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196364932546,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542942980474257,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610154462319596,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15617462566223486,
+            "release_required_pad_clearance": 0.05305077231159798,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1315821477878905,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00760418176651001,
+            "max_z_decrease": 0.00760418176651001,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518762969642461,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00760418176651001,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021124845519251163,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00760418176651001,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007604206868487101,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1491090953350067,
+              -0.39369228482246393,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1491090953350067,
+              -0.39369228482246393,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1508456943124785,
+              -0.39455906206179486,
+              0.8082078110402308
+            ],
+            "closest_button": [
+              0.14909914135932922,
+              -0.39369609951972956,
+              0.7730741500854492
+            ],
+            "closest_ee_minus_button": [
+              0.0017465529531492663,
+              -0.0008629625420653042,
+              0.03513366095478154
+            ],
+            "button_min_z_position": [
+              0.14908955991268158,
+              -0.39369192719459534,
+              0.7692046761512756
+            ],
+            "min_active_finger_to_button": 0.14439415096651054,
+            "closest_active_finger": [
+              0.00941254198551178,
+              -0.3809114992618561,
+              0.8105766773223877
+            ],
+            "closest_active_finger_button": [
+              0.1491084098815918,
+              -0.39369341731071467,
+              0.7763515710830688
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13969586789608002,
+              0.012781918048858587,
+              0.03422510623931885
+            ],
+            "min_contact_pad_to_button": 0.021124845519251163,
+            "closest_contact_pad": [
+              0.14908955991268158,
+              -0.39542549700930596,
+              0.7902582704740926
+            ],
+            "closest_contact_pad_button": [
+              0.14908955991268158,
+              -0.39369192719459534,
+              0.7692046761512756
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017335698147106227,
+              0.02105359432281695
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3eed233812e47205dd2c54cd91ac1674b52dbb80001b4944c4c014c451a171e",
+    "visual_seed": 6044634100137090369,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb8203d56ed22e2a810a510cd0619044637510e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_5_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22405905135814108,
+              0.2988898492297292,
+              1.1584080441010218
+            ],
+            "current_z": 1.1584080441010218,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.3018214174831667,
+            "gripper_z": 1.151513089800338,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21956694202086888,
+              0.2941086630347177,
+              1.151513089800338
+            ],
+            "object_minus_gripper": [
+              0.004492109337272204,
+              0.0047811861950115,
+              0.006894954300683764
+            ],
+            "object_to_gripper_xy": 0.006560395394286587,
+            "object_to_gripper_z": 0.006894954300683764,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22405905135814108,
+              0.27485967429348496,
+              1.1584080441010218
+            ],
+            "finger_b": [
+              0.21363820575373957,
+              0.2988898492297292,
+              1.1584080441010218
+            ],
+            "finger_midpoint": [
+              0.21884862855594034,
+              0.2868747617616071,
+              1.1584080441010218
+            ],
+            "object_minus_finger_midpoint": [
+              0.005210422802200743,
+              0.012015087468122132,
+              0.0
+            ],
+            "finger_gap": 0.026192428878919885,
+            "fingertip_max_gap": 0.09058634066857046,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013096214439459936,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1584080441010218,
+            "object_top_z": 1.2038832333016054,
+            "finger_top_clearance": 0.04547518920058358,
+            "fingertip_min_top_clearance": 0.013642556760175105,
+            "object_projection_between_fingers": 0.8417096730327556,
+            "object_to_finger_line_xy": 0.009560577371993855,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047793170334285234,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7232580243006492,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3070855899824384,
+              -0.3292456586271521,
+              0.8470196442156609
+            ],
+            "target_position": [
+              0.29957820511421523,
+              -0.3303343784111387,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007585917105246406,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18480537263820354,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196442156609,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586462818009787,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08686083040381191,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522559098047032,
+            "release_required_pad_clearance": 0.05343041520190596,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8746521323554874,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076485276222229,
+            "max_z_decrease": 0.0076485276222229,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520069546154485,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076485276222229,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021277591759809606,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076485276222229,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007648547869827182,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15527813136577606,
+              -0.3865958452224731,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15527813136577606,
+              -0.3865958452224731,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15694980855192203,
+              -0.3880679089734551,
+              0.808039670150298
+            ],
+            "closest_button": [
+              0.15526902675628662,
+              -0.38660475611686707,
+              0.7729095816612244
+            ],
+            "closest_ee_minus_button": [
+              0.001680781795635411,
+              -0.0014631528565880458,
+              0.03513008848907362
+            ],
+            "button_min_z_position": [
+              0.15526078641414642,
+              -0.3865988254547119,
+              0.7691603302955627
+            ],
+            "min_active_finger_to_button": 0.14437137958133336,
+            "closest_active_finger": [
+              0.016040928661823273,
+              -0.3697854280471802,
+              0.8110231161117554
+            ],
+            "closest_active_finger_button": [
+              0.1552818864583969,
+              -0.386597454547882,
+              0.7767826914787292
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13924095779657364,
+              0.01681202650070185,
+              0.03424042463302612
+            ],
+            "min_contact_pad_to_button": 0.021277591759809606,
+            "closest_contact_pad": [
+              0.15526078641414642,
+              -0.3894639372999341,
+              0.7902441403215397
+            ],
+            "closest_contact_pad_button": [
+              0.15526078641414642,
+              -0.3865988254547119,
+              0.7691603302955627
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028651118452222013,
+              0.021083810025976923
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "943cc7bf8481b5619e98c61d4267c28bcf78434dce82bc2e381c91473ca1d8ae",
+    "visual_seed": 7670991435110869712,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..367bd9fe265333b6ae1a0fa35105d6b8e255565c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_60_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2257168854351041,
+              0.3098797926587535,
+              1.1582033976855004
+            ],
+            "current_z": 1.1582033976855004,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.3016167710676452,
+            "gripper_z": 1.151201170553995,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22118501915432814,
+              0.3049956546784186,
+              1.151201170553995
+            ],
+            "object_minus_gripper": [
+              0.0045318662807759535,
+              0.0048841379803348794,
+              0.007002227131505334
+            ],
+            "object_to_gripper_xy": 0.00666277838426161,
+            "object_to_gripper_z": 0.007002227131505334,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2257168854351041,
+              0.2860442123333578,
+              1.1582033976855004
+            ],
+            "finger_b": [
+              0.21486258497929966,
+              0.3098797926587535,
+              1.1582033976855004
+            ],
+            "finger_midpoint": [
+              0.22028973520720188,
+              0.29796200249605564,
+              1.1582033976855004
+            ],
+            "object_minus_finger_midpoint": [
+              0.005427150227902217,
+              0.011917790162697839,
+              0.0
+            ],
+            "finger_gap": 0.026190661080493286,
+            "fingertip_max_gap": 0.09033797529382753,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013095330540246643,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1582033976855004,
+            "object_top_z": 1.2036360845314535,
+            "finger_top_clearance": 0.04543268684595314,
+            "fingertip_min_top_clearance": 0.013629806053785942,
+            "object_projection_between_fingers": 0.8282444589613237,
+            "object_to_finger_line_xy": 0.009878274916206594,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04766898764691377,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3306656969537679,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3091894501198852,
+              -0.32815456767262846,
+              0.8470193366815876
+            ],
+            "target_position": [
+              0.30092816638044345,
+              -0.3296417658223675,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008394079303899364,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18561727933375444,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193366815876,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526671217815976,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524411847634948,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15451357182752606,
+            "release_required_pad_clearance": 0.05262205923817474,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3039003444260064,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007667601108551025,
+            "max_z_decrease": 0.007667601108551025,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520955785240073,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007667601108551025,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021145274555066824,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007667601108551025,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007667621815230686,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1566280871629715,
+              -0.3859032094478607,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1566280871629715,
+              -0.3859032094478607,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15884706885655675,
+              -0.38625392166276373,
+              0.8080493809118626
+            ],
+            "closest_button": [
+              0.1566193997859955,
+              -0.38591229915618896,
+              0.7729120254516602
+            ],
+            "closest_ee_minus_button": [
+              0.002227669070561239,
+              -0.000341622506574768,
+              0.03513735546020247
+            ],
+            "button_min_z_position": [
+              0.15661044418811798,
+              -0.3859057128429413,
+              0.7691412568092346
+            ],
+            "min_active_finger_to_button": 0.14397507532829495,
+            "closest_active_finger": [
+              0.017765328288078308,
+              -0.36934685707092285,
+              0.811008870601654
+            ],
+            "closest_active_finger_button": [
+              0.15662920475006104,
+              -0.38590505719184875,
+              0.7767820954322815
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13886387646198273,
+              0.016558200120925903,
+              0.03422677516937256
+            ],
+            "min_contact_pad_to_button": 0.021145274555066824,
+            "closest_contact_pad": [
+              0.15661044418811798,
+              -0.38752580612058346,
+              0.7902243764498593
+            ],
+            "closest_contact_pad_button": [
+              0.15661044418811798,
+              -0.3859057128429413,
+              0.7691412568092346
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016200932776421761,
+              0.021083119640624703
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "45f090646b4f03d89ada3fc407025e4bc9860c8d674ae28fecb4513f65447f09",
+    "visual_seed": 4098840610808419905,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbe31b4cc9e65374f792b405306366d6b1c7797c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_61_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22788509004011456,
+              0.29885258599945547,
+              1.154273689892279
+            ],
+            "current_z": 1.154273689892279,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.2976871824837134,
+            "gripper_z": 1.1472723678083172,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2235556172808377,
+              0.2941555510581726,
+              1.1472723678083172
+            ],
+            "object_minus_gripper": [
+              0.0043294727592768645,
+              0.004697034941282874,
+              0.0070013220839617585
+            ],
+            "object_to_gripper_xy": 0.006387994334135921,
+            "object_to_gripper_z": 0.0070013220839617585,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22788509004011456,
+              0.27497749530818244,
+              1.154273689892279
+            ],
+            "finger_b": [
+              0.21754777009878443,
+              0.29885258599945547,
+              1.154273689892279
+            ],
+            "finger_midpoint": [
+              0.2227164300694495,
+              0.28691504065381895,
+              1.154273689892279
+            ],
+            "object_minus_finger_midpoint": [
+              0.005168659970665068,
+              0.011937545345636513,
+              0.0
+            ],
+            "finger_gap": 0.026016920245984797,
+            "fingertip_max_gap": 0.09061751477627708,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013008460122992399,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.154273689892279,
+            "object_top_z": 1.1996537751440917,
+            "finger_top_clearance": 0.045380085251812696,
+            "fingertip_min_top_clearance": 0.013614025575543776,
+            "object_projection_between_fingers": 0.842128351241437,
+            "object_to_finger_line_xy": 0.009486305403194348,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780875738813854,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5630228609880592,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30370188041823953,
+              -0.33193519763023416,
+              0.84701964102998
+            ],
+            "target_position": [
+              0.2959076037113438,
+              -0.3329599687209271,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007861355174012792,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18770014461303622,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701964102998,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075610709530942,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08714850685704066,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1555883502882833,
+            "release_required_pad_clearance": 0.05357425342852033,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.15911834041852,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007814168930053711,
+            "max_z_decrease": 0.007814168930053711,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514221515732877,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007814168930053711,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111109055732653,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007814168930053711,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007814189459033151,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1516075283288955,
+              -0.38922142982482905,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1516075283288955,
+              -0.38922142982482905,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1519892209681193,
+              -0.3894391575765731,
+              0.8077934911822277
+            ],
+            "closest_button": [
+              0.15159553289413447,
+              -0.38922792673110956,
+              0.772654116153717
+            ],
+            "closest_ee_minus_button": [
+              0.0003936880739848214,
+              -0.0002112308454635392,
+              0.03513937502851061
+            ],
+            "button_min_z_position": [
+              0.15158969163894648,
+              -0.38922306895256037,
+              0.7689946889877319
+            ],
+            "min_active_finger_to_button": 0.1457299652428345,
+            "closest_active_finger": [
+              0.010926425457000732,
+              -0.3725288510322571,
+              0.8105916380882263
+            ],
+            "closest_active_finger_button": [
+              0.15160746872425074,
+              -0.3892232775688171,
+              0.7764249444007874
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14068104326725,
+              0.016694426536560003,
+              0.034166693687438965
+            ],
+            "min_contact_pad_to_button": 0.02111109055732653,
+            "closest_contact_pad": [
+              0.15158969163894648,
+              -0.3906677361325225,
+              0.7900562910459511
+            ],
+            "closest_contact_pad_button": [
+              0.15158969163894648,
+              -0.38922306895256037,
+              0.7689946889877319
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014446671799621114,
+              0.021061602058219164
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "97472220af7ae5c017e68b84bc5910b668e8a806e80c026d4d55589184b708b2",
+    "visual_seed": 4265543153383660329,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6a57cdfcaeebc1a4e0a25efd9fab6e2db5d9e9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_62_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22851512373756422,
+              0.30372114360120367,
+              1.158408115986534
+            ],
+            "current_z": 1.158408115986534,
+            "required_z": 0.8565866266178549,
+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.30182148936867914,
+            "gripper_z": 1.151458229626568,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2240071078583496,
+              0.29894827532103585,
+              1.151458229626568
+            ],
+            "object_minus_gripper": [
+              0.004508015879214622,
+              0.004772868280167819,
+              0.006949886359965962
+            ],
+            "object_to_gripper_xy": 0.006565247808505274,
+            "object_to_gripper_z": 0.006949886359965962,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22851512373756422,
+              0.2797173751551813,
+              1.158408115986534
+            ],
+            "finger_b": [
+              0.2180604882810589,
+              0.30372114360120367,
+              1.158408115986534
+            ],
+            "finger_midpoint": [
+              0.22328780600931156,
+              0.2917192593781925,
+              1.158408115986534
+            ],
+            "object_minus_finger_midpoint": [
+              0.005227317728252662,
+              0.012001884223011183,
+              0.0
+            ],
+            "finger_gap": 0.026181678749436166,
+            "fingertip_max_gap": 0.09046298955341675,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013090839374718083,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158408115986534,
+            "object_top_z": 1.2038432198227254,
+            "finger_top_clearance": 0.045435103836191315,
+            "fingertip_min_top_clearance": 0.013630531150857394,
+            "object_projection_between_fingers": 0.8405506297009447,
+            "object_to_finger_line_xy": 0.00958497165468938,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773149477670838,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6713993138634948,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3078351159384812,
+              -0.3360298180683842,
+              0.8470192064292832
+            ],
+            "target_position": [
+              0.3003801837274731,
+              -0.3371568702350033,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0075396459371117955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1886305527360456,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192064292832,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568635215656827,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850967172540406,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1563154804171635,
+            "release_required_pad_clearance": 0.0525483586270203,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16312590463231869,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007894456386566162,
+            "max_z_decrease": 0.007894456386566162,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517341709361696,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007894456386566162,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0213051677863902,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007894456386566162,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007894481779264167,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15608011186122894,
+              -0.3934183418750763,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15608011186122894,
+              -0.3934183418750763,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15610159515965666,
+              -0.3952182107109008,
+              0.8078299007501413
+            ],
+            "closest_button": [
+              0.15607136487960815,
+              -0.3934277296066284,
+              0.7727020978927612
+            ],
+            "closest_ee_minus_button": [
+              3.0230280048504365e-05,
+              -0.001790481104272379,
+              0.03512780285738004
+            ],
+            "button_min_z_position": [
+              0.1560601443052292,
+              -0.3934198319911956,
+              0.7689144015312195
+            ],
+            "min_active_finger_to_button": 0.14592114778375886,
+            "closest_active_finger": [
+              0.01522013545036316,
+              -0.37672489881515503,
+              0.810772716999054
+            ],
+            "closest_active_finger_button": [
+              0.15608179569244385,
+              -0.393421471118927,
+              0.7765353322029114
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1408616602420807,
+              0.016696572303771973,
+              0.03423738479614258
+            ],
+            "min_contact_pad_to_button": 0.0213051677863902,
+            "closest_contact_pad": [
+              0.1560601443052292,
+              -0.39665061898982595,
+              0.7899731809302188
+            ],
+            "closest_contact_pad_button": [
+              0.1560601443052292,
+              -0.3934198319911956,
+              0.7689144015312195
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0032307869986303306,
+              0.02105877939899936
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29589d99beefff2a65eb5082646f638e0828d5103c7229816b7dff56ef6e6005",
+    "visual_seed": 6919763792229235441,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1e4a9d85613223025b74b9f3cb2dfba5b3f2745
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_63_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22135179674422906,
+              0.3028986573685993,
+              1.1541971289410988
+            ],
+            "current_z": 1.1541971289410988,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.2976105023232437,
+            "gripper_z": 1.1473499144342267,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21688527207226233,
+              0.2981864052555725,
+              1.1473499144342267
+            ],
+            "object_minus_gripper": [
+              0.004466524671966732,
+              0.0047122521130267825,
+              0.00684721450687209
+            ],
+            "object_to_gripper_xy": 0.0064927007186542105,
+            "object_to_gripper_z": 0.00684721450687209,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22135179674422906,
+              0.2788346980654193,
+              1.1541971289410988
+            ],
+            "finger_b": [
+              0.2111146994468661,
+              0.3028986573685993,
+              1.1541971289410988
+            ],
+            "finger_midpoint": [
+              0.21623324809554756,
+              0.29086667771700925,
+              1.1541971289410988
+            ],
+            "object_minus_finger_midpoint": [
+              0.005118548648681498,
+              0.01203197965159003,
+              0.0
+            ],
+            "finger_gap": 0.026150952151322897,
+            "fingertip_max_gap": 0.09048795392974812,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01307547607566148,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1541971289410988,
+            "object_top_z": 1.199635962624837,
+            "finger_top_clearance": 0.045438833683738133,
+            "fingertip_min_top_clearance": 0.013631650105121407,
+            "object_projection_between_fingers": 0.8467577041537147,
+            "object_to_finger_line_xy": 0.009420119440430173,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04774397696487406,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5859572472982189,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3037222138467274,
+              -0.3290648774138993,
+              0.8470196322510446
+            ],
+            "target_position": [
+              0.29626091037904323,
+              -0.32985729554000776,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007503264351164812,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860910717087288,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196322510446,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753721664799212,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851765877015853,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546155324883069,
+            "release_required_pad_clearance": 0.05258829385079265,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24066253188973194,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007745563983917236,
+            "max_z_decrease": 0.007745563983917236,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517708490394914,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007745563983917236,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021177549554271344,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007745563983917236,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007745586909716962,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15196083486080167,
+              -0.38611873984336853,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15196083486080167,
+              -0.38611873984336853,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15332919477581283,
+              -0.38695552136348893,
+              0.8078238071587459
+            ],
+            "closest_button": [
+              0.15194997191429138,
+              -0.3861259818077088,
+              0.7726835608482361
+            ],
+            "closest_ee_minus_button": [
+              0.0013792228615214508,
+              -0.0008295395557801344,
+              0.035140246310509826
+            ],
+            "button_min_z_position": [
+              0.1519421190023422,
+              -0.3861209452152252,
+              0.7690632939338684
+            ],
+            "min_active_finger_to_button": 0.1447130173760788,
+            "closest_active_finger": [
+              0.012324303388595581,
+              -0.3695365786552429,
+              0.8106459975242615
+            ],
+            "closest_active_finger_button": [
+              0.15196119248867032,
+              -0.3861215114593506,
+              0.7764650583267212
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13963688910007474,
+              0.016584932804107666,
+              0.03418093919754028
+            ],
+            "min_contact_pad_to_button": 0.021177549554271344,
+            "closest_contact_pad": [
+              0.1519421190023422,
+              -0.3882469315960725,
+              0.7901338607756045
+            ],
+            "closest_contact_pad_button": [
+              0.1519421190023422,
+              -0.3861209452152252,
+              0.7690632939338684
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021259863808472668,
+              0.021070566841736138
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c212fc4f3ec45797d04f773b8227933e7fa4f121280bf613371ec043c9ab1a92",
+    "visual_seed": 7787536543323383887,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94c498f22af99c1aa217f8ee5854fe7804a1cfd9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_64_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21936424725533613,
+              0.30597491527285137,
+              1.1578868416720594
+            ],
+            "current_z": 1.1578868416720594,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.301300274658849,
+            "gripper_z": 1.1510212201775578,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2149441408188159,
+              0.3012153400743817,
+              1.1510212201775578
+            ],
+            "object_minus_gripper": [
+              0.004420106436520216,
+              0.0047595751984696455,
+              0.006865621494501539
+            ],
+            "object_to_gripper_xy": 0.006495452022765991,
+            "object_to_gripper_z": 0.006865621494501539,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21936424725533613,
+              0.28199979185319574,
+              1.1578868416720594
+            ],
+            "finger_b": [
+              0.20896613522610713,
+              0.30597491527285137,
+              1.1578868416720594
+            ],
+            "finger_midpoint": [
+              0.21416519124072164,
+              0.2939873535630235,
+              1.1578868416720594
+            ],
+            "object_minus_finger_midpoint": [
+              0.005199056014614484,
+              0.011987561709827843,
+              0.0
+            ],
+            "finger_gap": 0.02613287731498613,
+            "fingertip_max_gap": 0.09050486629552831,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013066438657493084,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1578868416720594,
+            "object_top_z": 1.2033744927505432,
+            "finger_top_clearance": 0.04548765107848385,
+            "fingertip_min_top_clearance": 0.01364629532354512,
+            "object_projection_between_fingers": 0.8416804578588022,
+            "object_to_finger_line_xy": 0.009539554953224005,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04775243314776416,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7179023443161255,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30786978102477736,
+              -0.3341607019811189,
+              0.8470180720438707
+            ],
+            "target_position": [
+              0.30008583934886823,
+              -0.3354510314598274,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007890164648318758,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18738540851045044,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470180720438707,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555041955199991,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555594854422575,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15553173647727325,
+            "release_required_pad_clearance": 0.05277797427211288,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5973958471851784,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007742047309875488,
+            "max_z_decrease": 0.007742047309875488,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514382588272557,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007742047309875488,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111246250979518,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007742047309875488,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007742065340041567,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15578576922416687,
+              -0.39171248674392695,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15578576922416687,
+              -0.39171248674392695,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15554499770287156,
+              -0.39221492842063654,
+              0.808046124713919
+            ],
+            "closest_button": [
+              0.15577474236488342,
+              -0.3917195200920104,
+              0.7729065418243408
+            ],
+            "closest_ee_minus_button": [
+              -0.00022974466201186594,
+              -0.0004954083286261568,
+              0.03513958288957819
+            ],
+            "button_min_z_position": [
+              0.15576910972595215,
+              -0.39171376824378956,
+              0.7690668106079102
+            ],
+            "min_active_finger_to_button": 0.14630711356082937,
+            "closest_active_finger": [
+              0.014398306608200073,
+              -0.3759921193122864,
+              0.8109399676322937
+            ],
+            "closest_active_finger_button": [
+              0.15578918159008026,
+              -0.3917132914066314,
+              0.7767751216888428
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1413908749818802,
+              0.015721172094345037,
+              0.03416484594345093
+            ],
+            "min_contact_pad_to_button": 0.02111246250979518,
+            "closest_contact_pad": [
+              0.15576910972595215,
+              -0.39337639490197374,
+              0.7901137045788267
+            ],
+            "closest_contact_pad_button": [
+              0.15576910972595215,
+              -0.39171376824378956,
+              0.7690668106079102
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016626266581841742,
+              0.021046893970916525
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "794ccafd46ff743142269f7b82001474379f1eca1728368a879a17d866c0496f",
+    "visual_seed": 8164147956352674842,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c5c1fcf8de35bb67b8681c03e42bcfa7b13da66
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_65_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2280711025932331,
+              0.30215914217604417,
+              1.158485864985774
+            ],
+            "current_z": 1.158485864985774,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30189929797256376,
+            "gripper_z": 1.1514651350727318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2235731814534448,
+              0.2974311479636851,
+              1.1514651350727318
+            ],
+            "object_minus_gripper": [
+              0.004497921139788308,
+              0.004727994212359088,
+              0.007020729913042256
+            ],
+            "object_to_gripper_xy": 0.006525735502750291,
+            "object_to_gripper_z": 0.007020729913042256,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2280711025932331,
+              0.27839018606111166,
+              1.158485864985774
+            ],
+            "finger_b": [
+              0.21736365483301442,
+              0.30215914217604417,
+              1.158485864985774
+            ],
+            "finger_midpoint": [
+              0.22271737871312375,
+              0.29027466411857794,
+              1.158485864985774
+            ],
+            "object_minus_finger_midpoint": [
+              0.005353723880109351,
+              0.01188447805746623,
+              0.0
+            ],
+            "finger_gap": 0.026069382661110325,
+            "fingertip_max_gap": 0.09061722174350681,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013034691330555143,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158485864985774,
+            "object_top_z": 1.2038518421697662,
+            "finger_top_clearance": 0.045365977183992046,
+            "fingertip_min_top_clearance": 0.013609793155197647,
+            "object_projection_between_fingers": 0.8313018054878507,
+            "object_to_finger_line_xy": 0.00976259619278343,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780861087175341,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2591344173634602,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3081567171180762,
+              -0.33120608258932327,
+              0.8470196446072262
+            ],
+            "target_position": [
+              0.30034501629991806,
+              -0.3324475916806,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007909741746488008,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1858378639957128,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196446072262,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570489042559642,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582959063997851,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536007323188557,
+            "release_required_pad_clearance": 0.05291479531998926,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8677231926095448,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007672607898712158,
+            "max_z_decrease": 0.007672607898712158,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035173496156332223,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007672607898712158,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021200189736181888,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007672607898712158,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007672627553880032,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1560449451208115,
+              -0.3887090384960174,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1560449451208115,
+              -0.3887090384960174,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15615353483830227,
+              -0.3903032928704322,
+              0.8081039987756216
+            ],
+            "closest_button": [
+              0.15603266656398773,
+              -0.3887155652046203,
+              0.7729665637016296
+            ],
+            "closest_ee_minus_button": [
+              0.0001208682743145395,
+              -0.0015877276658118888,
+              0.03513743507399192
+            ],
+            "button_min_z_position": [
+              0.15602761507034305,
+              -0.38871017098426813,
+              0.7691362500190735
+            ],
+            "min_active_finger_to_button": 0.14587057077204177,
+            "closest_active_finger": [
+              0.014869652688503265,
+              -0.37533891201019287,
+              0.8110012412071228
+            ],
+            "closest_active_finger_button": [
+              0.15604428946971896,
+              -0.38871043920516957,
+              0.7768084406852722
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1411746367812157,
+              0.013371527194976696,
+              0.034192800521850586
+            ],
+            "min_contact_pad_to_button": 0.021200189736181888,
+            "closest_contact_pad": [
+              0.15602761507034305,
+              -0.3913281939248196,
+              0.7901741681844447
+            ],
+            "closest_contact_pad_button": [
+              0.15602761507034305,
+              -0.38871017098426813,
+              0.7691362500190735
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026180229405514677,
+              0.02103791816537126
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "572ebbdc49598c3a904f54baf6b59d9590e9519c6ee6dc1b43b79d3adab6b0c5",
+    "visual_seed": 8283963899039171628,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05591facfd91a8abce4dc30c47b1b8a5a7f1887b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_66_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22347740236419877,
+              0.30897389823970617,
+              1.1556084553650436
+            ],
+            "current_z": 1.1556084553650436,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.2990218287471885,
+            "gripper_z": 1.1486250658627624,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21891809450337144,
+              0.3041284852072535,
+              1.1486250658627624
+            ],
+            "object_minus_gripper": [
+              0.0045593078608273385,
+              0.004845413032452672,
+              0.006983389502281279
+            ],
+            "object_to_gripper_xy": 0.006653218441090309,
+            "object_to_gripper_z": 0.006983389502281279,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22347740236419877,
+              0.28523213902978534,
+              1.1556084553650436
+            ],
+            "finger_b": [
+              0.21249986889986885,
+              0.30897389823970617,
+              1.1556084553650436
+            ],
+            "finger_midpoint": [
+              0.2179886356320338,
+              0.29710301863474575,
+              1.1556084553650436
+            ],
+            "object_minus_finger_midpoint": [
+              0.005488766732164974,
+              0.011870879604960416,
+              0.0
+            ],
+            "finger_gap": 0.02615678442282889,
+            "fingertip_max_gap": 0.09030925818442545,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01307839221141445,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1556084553650436,
+            "object_top_z": 1.201067394848268,
+            "finger_top_clearance": 0.045458939483224325,
+            "fingertip_min_top_clearance": 0.013637681844967263,
+            "object_projection_between_fingers": 0.8238669590547081,
+            "object_to_finger_line_xy": 0.009963990680807918,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04765462909221273,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3333422050563188,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30674320558471496,
+              -0.3348127676904145,
+              0.8470184703547305
+            ],
+            "target_position": [
+              0.29822683546526746,
+              -0.33645675484331805,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008673595204431098,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18738826969126562,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470184703547305,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515037591499975,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865349522951082,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15649105263385094,
+            "release_required_pad_clearance": 0.0532674761475541,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5501166520688012,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00781702995300293,
+            "max_z_decrease": 0.00781702995300293,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035281857530687154,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00781702995300293,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02107014550402342,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00781702995300293,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007817053183057008,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15392675995826716,
+              -0.3927182257175445,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15392675995826716,
+              -0.3927182257175445,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15626098660227258,
+              -0.39072753729922705,
+              0.8079633025355862
+            ],
+            "closest_button": [
+              0.15391720831394193,
+              -0.3927254974842071,
+              0.7728161215782166
+            ],
+            "closest_ee_minus_button": [
+              0.0023437782883306557,
+              0.001997960184980052,
+              0.035147180957369684
+            ],
+            "button_min_z_position": [
+              0.1539077758789062,
+              -0.39271989464759816,
+              0.7689918279647827
+            ],
+            "min_active_finger_to_button": 0.14323245838864074,
+            "closest_active_finger": [
+              0.028803884983062744,
+              -0.4535093903541565,
+              0.8101822137832642
+            ],
+            "closest_active_finger_button": [
+              0.15392751991748804,
+              -0.3927207887172698,
+              0.7760595083236694
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1251236349344253,
+              -0.06078860163688671,
+              0.03412270545959473
+            ],
+            "min_contact_pad_to_button": 0.02107014550402342,
+            "closest_contact_pad": [
+              0.1539077758789062,
+              -0.39271989464759816,
+              0.7900619734688061
+            ],
+            "closest_contact_pad_button": [
+              0.1539077758789062,
+              -0.39271989464759816,
+              0.7689918279647827
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107014550402342
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "133449d4cecc5d7ae9185eba1ed64ad9adea96a0f77434d365bb3800b15126b8",
+    "visual_seed": 4553504541677939568,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..98db8fdc2665a93110f1c851f00d5eb7896ed11d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_67_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2230030837478124,
+              0.3040595044533852,
+              1.1559657293368917
+            ],
+            "current_z": 1.1559657293368917,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.29937916232368134,
+            "gripper_z": 1.1489803374745766,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21861702724746396,
+              0.2993545728249026,
+              1.1489803374745766
+            ],
+            "object_minus_gripper": [
+              0.004386056500348429,
+              0.004704931628482623,
+              0.00698539186231506
+            ],
+            "object_to_gripper_xy": 0.0064322525800021915,
+            "object_to_gripper_z": 0.00698539186231506,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2230030837478124,
+              0.28021412340142055,
+              1.1559657293368917
+            ],
+            "finger_b": [
+              0.21255745829368441,
+              0.3040595044533852,
+              1.1559657293368917
+            ],
+            "finger_midpoint": [
+              0.2177802710207484,
+              0.29213681392740287,
+              1.1559657293368917
+            ],
+            "object_minus_finger_midpoint": [
+              0.005222812727063986,
+              0.011922690525982327,
+              0.0
+            ],
+            "finger_gap": 0.026032927008719575,
+            "fingertip_max_gap": 0.09060611996231585,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013016463504359787,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1559657293368917,
+            "object_top_z": 1.2013504521153244,
+            "finger_top_clearance": 0.04538472277843275,
+            "fingertip_min_top_clearance": 0.013615416833529825,
+            "object_projection_between_fingers": 0.8390011042181686,
+            "object_to_finger_line_xy": 0.009567879908254452,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780305998115793,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6392848894641703,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30643078275107316,
+              -0.3296350517002001,
+              0.8470195221027461
+            ],
+            "target_position": [
+              0.2981478303043527,
+              -0.3310496975072039,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008402887836565821,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1861663664526814,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195221027461,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520030827815781,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644021139185297,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15533366269535068,
+            "release_required_pad_clearance": 0.05322010569592649,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4606913982210739,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007552385330200195,
+            "max_z_decrease": 0.007552385330200195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516696686265921,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007552385330200195,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021098070371428693,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007552385330200195,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00755241079959669,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15384775400161743,
+              -0.3873111605644226,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15384775400161743,
+              -0.3873111605644226,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15511468858909122,
+              -0.38737061885085333,
+              0.8081443748468459
+            ],
+            "closest_button": [
+              0.1538372039794922,
+              -0.3873184025287628,
+              0.7730006575584412
+            ],
+            "closest_ee_minus_button": [
+              0.0012774846095990333,
+              -5.2216322090514744e-05,
+              0.03514371728840471
+            ],
+            "button_min_z_position": [
+              0.15382820367813108,
+              -0.38731274008750916,
+              0.7692564725875854
+            ],
+            "min_active_finger_to_button": 0.14490645905690805,
+            "closest_active_finger": [
+              0.013958588242530823,
+              -0.37116140127182007,
+              0.8104358911514282
+            ],
+            "closest_active_finger_button": [
+              0.1538479477167129,
+              -0.3873137831687927,
+              0.7762606143951416
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13988935947418207,
+              0.016152381896972656,
+              0.03417527675628662
+            ],
+            "min_contact_pad_to_button": 0.021098070371428693,
+            "closest_contact_pad": [
+              0.15382820367813108,
+              -0.3885329996456739,
+              0.7903192250195081
+            ],
+            "closest_contact_pad_button": [
+              0.15382820367813108,
+              -0.38731274008750916,
+              0.7692564725875854
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001220259558164738,
+              0.021062752431922682
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "598de1125ea7d1678a4007dea9fa2669f2fd54b64b67cca9aa0e807f735f40f6",
+    "visual_seed": 1337337500442211354,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..115defcbaa503e9a680e8af3ffbe48550c2effc1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_68_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21957001379685084,
+              0.3072224611762203,
+              1.1555126734985546
+            ],
+            "current_z": 1.1555126734985546,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.2989261064853441,
+            "gripper_z": 1.1485233926189278,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2152291517926283,
+              0.3025944995432404,
+              1.1485233926189278
+            ],
+            "object_minus_gripper": [
+              0.00434086200422254,
+              0.0046279616329799045,
+              0.0069892808796268024
+            ],
+            "object_to_gripper_xy": 0.0063451644435772465,
+            "object_to_gripper_z": 0.0069892808796268024,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21957001379685084,
+              0.2831865122602424,
+              1.1555126734985546
+            ],
+            "finger_b": [
+              0.2095252051535074,
+              0.3072224611762203,
+              1.1555126734985546
+            ],
+            "finger_midpoint": [
+              0.21454760947517912,
+              0.29520448671823135,
+              1.1555126734985546
+            ],
+            "object_minus_finger_midpoint": [
+              0.005022404321671725,
+              0.012017974457988967,
+              0.0
+            ],
+            "finger_gap": 0.0260504322607685,
+            "fingertip_max_gap": 0.09058994566780834,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01302521613038425,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1555126734985546,
+            "object_top_z": 1.200974191947842,
+            "finger_top_clearance": 0.045461518449287475,
+            "fingertip_min_top_clearance": 0.013638455534786242,
+            "object_projection_between_fingers": 0.8513196867737974,
+            "object_to_finger_line_xy": 0.00926804227297893,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779497283390417,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6223917226242488,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3044699472746394,
+              -0.33811034760165287,
+              0.8470193752028129
+            ],
+            "target_position": [
+              0.2975330748506346,
+              -0.33891167471240563,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006983002517924866,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18673836369375515,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193752028129,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590563029594068,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583809369618677,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15386233412883843,
+            "release_required_pad_clearance": 0.052919046848093385,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8758035571971508,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007866978645324707,
+            "max_z_decrease": 0.007866978645324707,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351720501235981,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007866978645324707,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021167566395645297,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007866978645324707,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007866999889225004,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1532330065965652,
+              -0.3951731324195862,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1532330065965652,
+              -0.3951731324195862,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15446419266094702,
+              -0.3960395013977347,
+              0.807903547247619
+            ],
+            "closest_button": [
+              0.15322139859199518,
+              -0.3951801359653473,
+              0.7727639675140381
+            ],
+            "closest_ee_minus_button": [
+              0.0012427940689518358,
+              -0.0008593654323874045,
+              0.03513957973358095
+            ],
+            "button_min_z_position": [
+              0.15321478247642512,
+              -0.3951745927333832,
+              0.7689418792724609
+            ],
+            "min_active_finger_to_button": 0.14484811812545445,
+            "closest_active_finger": [
+              0.01341760903596878,
+              -0.3789271116256714,
+              0.8107830882072449
+            ],
+            "closest_active_finger_button": [
+              0.15323363244533533,
+              -0.39517512917518616,
+              0.7766003608703613
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13981602340936655,
+              0.01624801754951477,
+              0.034182727336883545
+            ],
+            "min_contact_pad_to_button": 0.021167566395645297,
+            "closest_contact_pad": [
+              0.15321478247642512,
+              -0.3972772234634397,
+              0.7900047568329244
+            ],
+            "closest_contact_pad_button": [
+              0.15321478247642512,
+              -0.3951745927333832,
+              0.7689418792724609
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021026307300565095,
+              0.021062877560463433
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9eb523ae44c2e47885ee631eaca67094bd50975e91a24d544b178d0197e08726",
+    "visual_seed": 1756640662346289807,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..79c8233db4d06b70e5b4208bcd08efd7b88735dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_69_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21974353859953952,
+              0.30236845474367835,
+              1.158063586076554
+            ],
+            "current_z": 1.158063586076554,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.3014769594586989,
+            "gripper_z": 1.1511302807067074,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21524410370786945,
+              0.29757342752649724,
+              1.1511302807067074
+            ],
+            "object_minus_gripper": [
+              0.004499434891670068,
+              0.004795027217181114,
+              0.0069333053698465985
+            ],
+            "object_to_gripper_xy": 0.006575500008203611,
+            "object_to_gripper_z": 0.0069333053698465985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21974353859953952,
+              0.2785059991831825,
+              1.158063586076554
+            ],
+            "finger_b": [
+              0.20908739805296847,
+              0.30236845474367835,
+              1.158063586076554
+            ],
+            "finger_midpoint": [
+              0.214415468326254,
+              0.29043722696343044,
+              1.158063586076554
+            ],
+            "object_minus_finger_midpoint": [
+              0.005328070273285523,
+              0.01193122778024791,
+              0.0
+            ],
+            "finger_gap": 0.026133696958618696,
+            "fingertip_max_gap": 0.0905385842009751,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013066848479309322,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158063586076554,
+            "object_top_z": 1.2034193321025901,
+            "finger_top_clearance": 0.04535574602603609,
+            "fingertip_min_top_clearance": 0.013606723807810828,
+            "object_projection_between_fingers": 0.833736017773656,
+            "object_to_finger_line_xy": 0.00973003094975773,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047769292100487554,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.38200735958590293,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31021507842130236,
+              -0.33361232298741006,
+              0.8470194564198046
+            ],
+            "target_position": [
+              0.3017807604480869,
+              -0.3352796591412923,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008597542062900799,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18603642902891704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194564198046,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525028305626047,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08674533741012667,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15510952641320508,
+            "release_required_pad_clearance": 0.05337266870506334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7609790383609951,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007914066314697266,
+            "max_z_decrease": 0.007914066314697266,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035185313774236,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007914066314697266,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02111632478938166,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007914066314697266,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007914092434627422,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15748068690299982,
+              -0.3915411233901977,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15748068690299982,
+              -0.3915411233901977,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15922683030462775,
+              -0.3919149704993905,
+              0.807867165173384
+            ],
+            "closest_button": [
+              0.15746955573558802,
+              -0.39154884219169606,
+              0.7727276682853699
+            ],
+            "closest_ee_minus_button": [
+              0.0017572745690397351,
+              -0.0003661283076944466,
+              0.0351394968880141
+            ],
+            "button_min_z_position": [
+              0.157460406422615,
+              -0.3915425837039947,
+              0.7688947916030884
+            ],
+            "min_active_finger_to_button": 0.14441062546308528,
+            "closest_active_finger": [
+              0.018018685281276703,
+              -0.3762011229991913,
+              0.8107571005821228
+            ],
+            "closest_active_finger_button": [
+              0.15748111903667444,
+              -0.3915438950061797,
+              0.7765626907348633
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13946243375539774,
+              0.015342772006988414,
+              0.03419440984725952
+            ],
+            "min_contact_pad_to_button": 0.02111632478938166,
+            "closest_contact_pad": [
+              0.157460406422615,
+              -0.39302391241746515,
+              0.7899590940566068
+            ],
+            "closest_contact_pad_button": [
+              0.157460406422615,
+              -0.3915425837039947,
+              0.7688947916030884
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014813287134704534,
+              0.021064302453518424
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab369c1add97416671468a95b732b56bf7bb73166eaccf0f174f2f32488f2ca8",
+    "visual_seed": 1878868355084146934,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..967c608d64274f494fadd7e23a0ce51ffc938cfa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_6_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2250546688254726,
+              0.3060241761029811,
+              1.1583318369359867
+            ],
+            "current_z": 1.1583318369359867,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.30174515071348684,
+            "gripper_z": 1.1513553514218628,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22067425013459513,
+              0.3013816925342068,
+              1.1513553514218628
+            ],
+            "object_minus_gripper": [
+              0.004380418690877463,
+              0.0046424835687742805,
+              0.006976485514123887
+            ],
+            "object_to_gripper_xy": 0.00638284588516187,
+            "object_to_gripper_z": 0.006976485514123887,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2250546688254726,
+              0.28196131519047934,
+              1.1583318369359867
+            ],
+            "finger_b": [
+              0.21498727697913733,
+              0.3060241761029811,
+              1.1583318369359867
+            ],
+            "finger_midpoint": [
+              0.22002097290230496,
+              0.2939927456467302,
+              1.1583318369359867
+            ],
+            "object_minus_finger_midpoint": [
+              0.00503369592316763,
+              0.01203143045625088,
+              0.0
+            ],
+            "finger_gap": 0.026083973123012964,
+            "fingertip_max_gap": 0.09064994261295589,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013041986561506482,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583318369359867,
+            "object_top_z": 1.2037567295537908,
+            "finger_top_clearance": 0.045424892617804025,
+            "fingertip_min_top_clearance": 0.013627467785341208,
+            "object_projection_between_fingers": 0.8510342397749189,
+            "object_to_finger_line_xy": 0.009287321705460996,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782497130647795,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6104108197799848,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29964124115223384,
+              -0.3306581814173281,
+              0.8470195007142829
+            ],
+            "target_position": [
+              0.29231924882744004,
+              -0.33146603741754793,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007366424025362002,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18558187723781344,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195007142829,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580812835969938,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564601537948462,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15306015246051669,
+            "release_required_pad_clearance": 0.05282300768974231,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6909684927211192,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074416399002075195,
+            "max_z_decrease": 0.0074416399002075195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517922471692132,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074416399002075195,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104181576843329,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074416399002075195,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007441662183049549,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14801917970180506,
+              -0.3877274990081787,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14801917970180506,
+              -0.3877274990081787,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14671700509644123,
+              -0.3867095265809159,
+              0.8081382453832813
+            ],
+            "closest_button": [
+              0.1480082869529724,
+              -0.3877326250076294,
+              0.7729976177215576
+            ],
+            "closest_ee_minus_button": [
+              -0.0012912818565311845,
+              0.001023098426713498,
+              0.035140627661723656
+            ],
+            "button_min_z_position": [
+              0.14800100028514857,
+              -0.38772857189178467,
+              0.7693672180175781
+            ],
+            "min_active_finger_to_button": 0.14681199474509551,
+            "closest_active_finger": [
+              0.01871173083782196,
+              -0.44831565022468567,
+              0.8109061121940613
+            ],
+            "closest_active_finger_button": [
+              0.14801850914955134,
+              -0.38772860169410706,
+              0.7768073081970215
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12930677831172938,
+              -0.06058704853057861,
+              0.034098803997039795
+            ],
+            "min_contact_pad_to_button": 0.02104181576843329,
+            "closest_contact_pad": [
+              0.14800100028514857,
+              -0.3880025322353032,
+              0.7904072502552641
+            ],
+            "closest_contact_pad_button": [
+              0.14800100028514857,
+              -0.38772857189178467,
+              0.7693672180175781
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00027396034351850895,
+              0.021040032237686024
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20724afff5f176fa3ef63b2c06524aae48b9b53d31a3c01e2a2e81c35e04d224",
+    "visual_seed": 6731598254149446246,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f23aad6852564c4c77d6d59f0ea77fa7e9e9615
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_70_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2213694840284789,
+              0.30842937521952773,
+              1.1579426210102053
+            ],
+            "current_z": 1.1579426210102053,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.30135605399699483,
+            "gripper_z": 1.150951212002068,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21705073263988686,
+              0.3035926150614387,
+              1.150951212002068
+            ],
+            "object_minus_gripper": [
+              0.004318751388592029,
+              0.004836760158089037,
+              0.006991409008137328
+            ],
+            "object_to_gripper_xy": 0.006484278092690278,
+            "object_to_gripper_z": 0.006991409008137328,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2213694840284789,
+              0.28470980789933475,
+              1.1579426210102053
+            ],
+            "finger_b": [
+              0.21063101707712625,
+              0.30842937521952773,
+              1.1579426210102053
+            ],
+            "finger_midpoint": [
+              0.2160002505528026,
+              0.29656959155943124,
+              1.1579426210102053
+            ],
+            "object_minus_finger_midpoint": [
+              0.005369233475676305,
+              0.01185978366009649,
+              0.0
+            ],
+            "finger_gap": 0.02603713782892543,
+            "fingertip_max_gap": 0.09068709330547481,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013018568914462708,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1579426210102053,
+            "object_top_z": 1.2033816238685324,
+            "finger_top_clearance": 0.04543900285832714,
+            "fingertip_min_top_clearance": 0.01363170085749814,
+            "object_projection_between_fingers": 0.8299024392753623,
+            "object_to_finger_line_xy": 0.009782633999245099,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047843546652737406,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.626424934248773,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30866810882142365,
+              -0.33168423316403184,
+              0.8470197323939642
+            ],
+            "target_position": [
+              0.300540105294784,
+              -0.3330530936740236,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008242464463064538,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867060355568854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197323939642,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543728655985633,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622298079387174,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15508750351755698,
+            "release_required_pad_clearance": 0.05311149039693587,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2492730595333978,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007723391056060791,
+            "max_z_decrease": 0.007723391056060791,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516042831444139,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007723391056060791,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021071122766928352,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007723391056060791,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077234113629299815,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15624003112316132,
+              -0.3893145620822906,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15624003112316132,
+              -0.3893145620822906,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15725005520933594,
+              -0.3888765964948878,
+              0.808051596593423
+            ],
+            "closest_button": [
+              0.1562291830778122,
+              -0.3893214166164397,
+              0.7729088068008423
+            ],
+            "closest_ee_minus_button": [
+              0.0010208721315237423,
+              0.0004448201215518921,
+              0.035142789792580675
+            ],
+            "button_min_z_position": [
+              0.15622238814830777,
+              -0.3893161118030547,
+              0.7690854668617249
+            ],
+            "min_active_finger_to_button": 0.14503896516388942,
+            "closest_active_finger": [
+              0.03023792803287506,
+              -0.4525279700756073,
+              0.8108770847320557
+            ],
+            "closest_active_finger_button": [
+              0.1562436372041702,
+              -0.38931497931480397,
+              0.7767745852470398
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12600570917129514,
+              -0.06321299076080333,
+              0.03410249948501587
+            ],
+            "min_contact_pad_to_button": 0.021071122766928352,
+            "closest_contact_pad": [
+              0.15622238814830777,
+              -0.3899604664557613,
+              0.7901467351459593
+            ],
+            "closest_contact_pad_button": [
+              0.15622238814830777,
+              -0.3893161118030547,
+              0.7690854668617249
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006443546527066246,
+              0.02106126828423449
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d64e51dc25ec5767647c5690232133c46dfa93fc4c74897f52d14ad0e6d2d48",
+    "visual_seed": 7601400231824159029,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2938a52618a92d88ad66e9f3ac6f6df2552aa12
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_71_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22299510412358808,
+              0.3048201506848375,
+              1.155073438334677
+            ],
+            "current_z": 1.155073438334677,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.29848693092611145,
+            "gripper_z": 1.1480974420134251,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21855865291172988,
+              0.3001098995407371,
+              1.1480974420134251
+            ],
+            "object_minus_gripper": [
+              0.004436451211858206,
+              0.004710251144100397,
+              0.006975996321251898
+            ],
+            "object_to_gripper_xy": 0.006470592337313273,
+            "object_to_gripper_z": 0.006975996321251898,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22299510412358808,
+              0.2808492042788507,
+              1.155073438334677
+            ],
+            "finger_b": [
+              0.21265560741801565,
+              0.3048201506848375,
+              1.155073438334677
+            ],
+            "finger_midpoint": [
+              0.21782535577080187,
+              0.2928346774818441,
+              1.155073438334677
+            ],
+            "object_minus_finger_midpoint": [
+              0.005169748352786219,
+              0.011985473202993369,
+              0.0
+            ],
+            "finger_gap": 0.02610577452831527,
+            "fingertip_max_gap": 0.09060455557677802,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01305288726415761,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.155073438334677,
+            "object_top_z": 1.2005068955207328,
+            "finger_top_clearance": 0.04543345718605574,
+            "fingertip_min_top_clearance": 0.01363003715581672,
+            "object_projection_between_fingers": 0.8431351520625953,
+            "object_to_finger_line_xy": 0.009493973110253042,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780227778838901,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.674490609749759,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3075640816087943,
+              -0.33501620133477156,
+              0.847019481179905
+            ],
+            "target_position": [
+              0.29969410425322496,
+              -0.33634136872495707,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007980765138079495,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18808525417524352,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019481179905,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538239044202406,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518968519022645,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15650624654801037,
+            "release_required_pad_clearance": 0.052594842595113225,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.25333761131701005,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007801711559295654,
+            "max_z_decrease": 0.007801711559295654,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516210672067035,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007801711559295654,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107131886407112,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007801711559295654,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007801731972189693,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15539403259754186,
+              -0.3926028311252594,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15539403259754186,
+              -0.3926028311252594,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15607779256344,
+              -0.3915403743532202,
+              0.8079652645994554
+            ],
+            "closest_button": [
+              0.15538409352302557,
+              -0.39261120557785034,
+              0.7728263139724731
+            ],
+            "closest_ee_minus_button": [
+              0.0006936990404144416,
+              0.0010708312246301421,
+              0.035138950626982246
+            ],
+            "button_min_z_position": [
+              0.15537633001804357,
+              -0.3926050961017608,
+              0.76900714635849
+            ],
+            "min_active_finger_to_button": 0.1450736651754636,
+            "closest_active_finger": [
+              0.02817649394273758,
+              -0.45340093970298767,
+              0.8108123540878296
+            ],
+            "closest_active_finger_button": [
+              0.15539652109146124,
+              -0.3926050662994384,
+              0.7766759395599365
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12722002714872366,
+              -0.06079587340354925,
+              0.034136414527893066
+            ],
+            "min_contact_pad_to_button": 0.02107131886407112,
+            "closest_contact_pad": [
+              0.15537633001804357,
+              -0.3928139940528903,
+              0.7900774297053597
+            ],
+            "closest_contact_pad_button": [
+              0.15537633001804357,
+              -0.3926050961017608,
+              0.76900714635849
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00020889795112949416,
+              0.021070283346869667
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7e14faaa14d8477335454a16fd5e919e0086ff2118f503725425af79830be586",
+    "visual_seed": 1131255521248759030,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..db131be992971addb2ad9b40120de62324522af5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_72_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21993589514415357,
+              0.30508116972369054,
+              1.1549006684300285
+            ],
+            "current_z": 1.1549006684300285,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.29831410141681813,
+            "gripper_z": 1.1479974599879312,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2155068450539311,
+              0.3002919004801394,
+              1.1479974599879312
+            ],
+            "object_minus_gripper": [
+              0.004429050090222458,
+              0.004789269243551164,
+              0.006903208442097242
+            ],
+            "object_to_gripper_xy": 0.00652331086097579,
+            "object_to_gripper_z": 0.006903208442097242,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21993589514415357,
+              0.2812008750329005,
+              1.1549006684300285
+            ],
+            "finger_b": [
+              0.20938824591007546,
+              0.30508116972369054,
+              1.1549006684300285
+            ],
+            "finger_midpoint": [
+              0.2146620705271145,
+              0.29314102237829553,
+              1.1549006684300285
+            ],
+            "object_minus_finger_midpoint": [
+              0.005273824617039069,
+              0.011940147345395002,
+              0.0
+            ],
+            "finger_gap": 0.026105964431220013,
+            "fingertip_max_gap": 0.09061540284162414,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013052982215609988,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1549006684300285,
+            "object_top_z": 1.2003363100818567,
+            "finger_top_clearance": 0.04543564165182823,
+            "fingertip_min_top_clearance": 0.013630692495548435,
+            "object_projection_between_fingers": 0.8367580125698972,
+            "object_to_finger_line_xy": 0.009648407078332201,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047807701420812074,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5649182867471833,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.300063419907619,
+              -0.3295788136271183,
+              0.8470197942573399
+            ],
+            "target_position": [
+              0.2919257593580203,
+              -0.3306448888886518,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00820719414195549,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18644575565112506,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197942573399,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515276544893358,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851485696197976,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15562939540028584,
+            "release_required_pad_clearance": 0.0525742848098988,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21306101971367253,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007607161998748779,
+            "max_z_decrease": 0.007607161998748779,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516446226692324,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007607161998748779,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105817386568559,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007607161998748779,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007607182510570506,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14762568473815912,
+              -0.3869063556194305,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14762568473815912,
+              -0.3869063556194305,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14856308219733158,
+              -0.3859074422009714,
+              0.8080386741455602
+            ],
+            "closest_button": [
+              0.14761441946029658,
+              -0.3869116008281708,
+              0.7729013562202454
+            ],
+            "closest_ee_minus_button": [
+              0.0009486627370350054,
+              0.0010041586271993808,
+              0.035137317925314826
+            ],
+            "button_min_z_position": [
+              0.1476080417633056,
+              -0.3869072496891021,
+              0.7692016959190369
+            ],
+            "min_active_finger_to_button": 0.14486015641871944,
+            "closest_active_finger": [
+              0.02167787402868271,
+              -0.4498067796230316,
+              0.810832142829895
+            ],
+            "closest_active_finger_button": [
+              0.14762808382511133,
+              -0.3869067430496216,
+              0.7767059803009033
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12595020979642862,
+              -0.06290003657341003,
+              0.0341261625289917
+            ],
+            "min_contact_pad_to_button": 0.02105817386568559,
+            "closest_contact_pad": [
+              0.1476080417633056,
+              -0.38694411582817934,
+              0.7902598375142782
+            ],
+            "closest_contact_pad_button": [
+              0.1476080417633056,
+              -0.3869072496891021,
+              0.7692016959190369
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -3.6866139077218474e-05,
+              0.02105814159524133
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c24044170d59df82ae5e2551f146bd8e5ed80d100fdb7908447bd5b576a891ec",
+    "visual_seed": 8326966081730556703,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a60b243e3c3d9a610f6580752507e9b837600e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_73_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22562354234254675,
+              0.3076287304724612,
+              1.155842277699249
+            ],
+            "current_z": 1.155842277699249,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.2992558298953284,
+            "gripper_z": 1.148849946399699,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22111045339050983,
+              0.3029421985701824,
+              1.148849946399699
+            ],
+            "object_minus_gripper": [
+              0.00451308895203692,
+              0.004686531902278801,
+              0.006992331299549903
+            ],
+            "object_to_gripper_xy": 0.006506270295651316,
+            "object_to_gripper_z": 0.006992331299549903,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22562354234254675,
+              0.28343443714228467,
+              1.155842277699249
+            ],
+            "finger_b": [
+              0.21554290738504753,
+              0.3076287304724612,
+              1.155842277699249
+            ],
+            "finger_midpoint": [
+              0.22058322486379714,
+              0.29553158380737293,
+              1.155842277699249
+            ],
+            "object_minus_finger_midpoint": [
+              0.005040317478749612,
+              0.012097146665088265,
+              0.0
+            ],
+            "finger_gap": 0.0262103611362564,
+            "fingertip_max_gap": 0.09039367327844619,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0131051805681282,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.155842277699249,
+            "object_top_z": 1.2012762686079896,
+            "finger_top_clearance": 0.045433990908740673,
+            "fingertip_min_top_clearance": 0.013630197272622236,
+            "object_projection_between_fingers": 0.8520790229501521,
+            "object_to_finger_line_xy": 0.009305245274884568,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0476968366392231,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5997410531900237,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3001192870763134,
+              -0.3284315045570759,
+              0.8470194028703755
+            ],
+            "target_position": [
+              0.2925158929232446,
+              -0.3294312315471458,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007668836724145022,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18684743583045232,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194028703755,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754600269085966,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587109364969102,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15514434538708755,
+            "release_required_pad_clearance": 0.05293554682484551,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9082682171021377,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007495880126953125,
+            "max_z_decrease": 0.007495880126953125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513937890457297,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007495880126953125,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107270306141658,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007495880126953125,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007495903270224133,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14821581542491913,
+              -0.385692685842514,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14821581542491913,
+              -0.385692685842514,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14750959560996119,
+              -0.3861386636590059,
+              0.8081076849184784
+            ],
+            "closest_button": [
+              0.14820462465286255,
+              -0.3856976628303527,
+              0.7729779481887817
+            ],
+            "closest_ee_minus_button": [
+              -0.0006950290429013628,
+              -0.0004410008286531708,
+              0.03512973672969666
+            ],
+            "button_min_z_position": [
+              0.14819718897342682,
+              -0.38569280505180353,
+              0.7693129777908325
+            ],
+            "min_active_finger_to_button": 0.14676918144569412,
+            "closest_active_finger": [
+              0.006226763129234314,
+              -0.3711717426776886,
+              0.8109883069992065
+            ],
+            "closest_active_finger_button": [
+              0.14821691811084747,
+              -0.3856937885284423,
+              0.7767962217330933
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14199015498161316,
+              0.014522045850753729,
+              0.03419208526611328
+            ],
+            "min_contact_pad_to_button": 0.02107270306141658,
+            "closest_contact_pad": [
+              0.14819718897342682,
+              -0.3871412873686022,
+              0.7903358394726435
+            ],
+            "closest_contact_pad_button": [
+              0.14819718897342682,
+              -0.38569280505180353,
+              0.7693129777908325
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014484823167986716,
+              0.021022861681811
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4caa5b1526911d6cb179267d9510c04bd07140e59dad402e16df3b62387e6738",
+    "visual_seed": 1650334255096999398,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..652c406e9aad572eef88d2f73329eb0cc48d171d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_74_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22811062853451788,
+              0.30396942606916394,
+              1.155812102575309
+            ],
+            "current_z": 1.155812102575309,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.29922553556209863,
+            "gripper_z": 1.1489359520502593,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22348236127078813,
+              0.29923267687423116,
+              1.1489359520502593
+            ],
+            "object_minus_gripper": [
+              0.004628267263729752,
+              0.004736749194932777,
+              0.00687615052504964
+            ],
+            "object_to_gripper_xy": 0.0066225109135590555,
+            "object_to_gripper_z": 0.00687615052504964,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22811062853451788,
+              0.28028196418170087,
+              1.155812102575309
+            ],
+            "finger_b": [
+              0.21717318001930985,
+              0.30396942606916394,
+              1.155812102575309
+            ],
+            "finger_midpoint": [
+              0.22264190427691388,
+              0.2921256951254324,
+              1.155812102575309
+            ],
+            "object_minus_finger_midpoint": [
+              0.005468724257604002,
+              0.011843730943731534,
+              0.0
+            ],
+            "finger_gap": 0.026090680916619285,
+            "fingertip_max_gap": 0.09014652040955487,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013045340458309638,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.155812102575309,
+            "object_top_z": 1.201158030860955,
+            "finger_top_clearance": 0.0453459282856461,
+            "fingertip_min_top_clearance": 0.013603778485693796,
+            "object_projection_between_fingers": 0.824263806001462,
+            "object_to_finger_line_xy": 0.00992999744537331,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04757326020477744,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3449059744150549,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3012919041851916,
+              -0.3357254516410687,
+              0.8470184072156526
+            ],
+            "target_position": [
+              0.2943734451445998,
+              -0.33633383655221705,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006945157139795998,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854587370269347,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470184072156526,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583518495228164,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540642748733317,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15279137533785386,
+            "release_required_pad_clearance": 0.052703213743666585,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.45454432841532966,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007618427276611328,
+            "max_z_decrease": 0.007618427276611328,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522036405389087,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007618427276611328,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111608184669261,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007618427276611328,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007618448397397762,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15007336437702176,
+              -0.39259529113769526,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15007336437702176,
+              -0.39259529113769526,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15233332379849304,
+              -0.3931367446365625,
+              0.8081729229597558
+            ],
+            "closest_button": [
+              0.15006178617477411,
+              -0.39260014891624445,
+              0.7730299830436707
+            ],
+            "closest_ee_minus_button": [
+              0.0022715376237189278,
+              -0.000536595720318056,
+              0.03514293991608519
+            ],
+            "button_min_z_position": [
+              0.15005543828010554,
+              -0.3925959765911102,
+              0.7691904306411743
+            ],
+            "min_active_finger_to_button": 0.14389789944138012,
+            "closest_active_finger": [
+              0.011056900024414062,
+              -0.3780013918876648,
+              0.8104811906814575
+            ],
+            "closest_active_finger_button": [
+              0.15007233619689936,
+              -0.39259681105613703,
+              0.7763009667396545
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1390154361724853,
+              0.014595419168472235,
+              0.03418022394180298
+            ],
+            "min_contact_pad_to_button": 0.02111608184669261,
+            "closest_contact_pad": [
+              0.15005543828010554,
+              -0.3941657866288331,
+              0.7902480802963872
+            ],
+            "closest_contact_pad_button": [
+              0.15005543828010554,
+              -0.3925959765911102,
+              0.7691904306411743
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015698100377229407,
+              0.02105764965521284
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ee6ce0c1d15773fdc7a3dc52834cb3a1fe464127e1ab3e11cdb13247faf4aa22",
+    "visual_seed": 8088303695608689766,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..78ba2cc2529270f1ee9134b55b5cc0711d60ce84
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_75_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2245561829190121,
+              0.3047951334046303,
+              1.1564546310685604
+            ],
+            "current_z": 1.1564546310685604,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.29986800445070527,
+            "gripper_z": 1.1494203842750037,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21996387921051794,
+              0.3000367473120929,
+              1.1494203842750037
+            ],
+            "object_minus_gripper": [
+              0.004592303708494172,
+              0.0047583860925374255,
+              0.007034246793556687
+            ],
+            "object_to_gripper_xy": 0.006612979022853687,
+            "object_to_gripper_z": 0.007034246793556687,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2245561829190121,
+              0.281168094716961,
+              1.1564546310685604
+            ],
+            "finger_b": [
+              0.21353833299373548,
+              0.3047951334046303,
+              1.1564546310685604
+            ],
+            "finger_midpoint": [
+              0.2190472579563738,
+              0.2929816140607957,
+              1.1564546310685604
+            ],
+            "object_minus_finger_midpoint": [
+              0.005508924962638301,
+              0.011813519343834622,
+              0.0
+            ],
+            "finger_gap": 0.026069713733076164,
+            "fingertip_max_gap": 0.09033339542845589,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013034856866538052,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1564546310685604,
+            "object_top_z": 1.201890016634481,
+            "finger_top_clearance": 0.04543538556592064,
+            "fingertip_min_top_clearance": 0.013630615669776225,
+            "object_projection_between_fingers": 0.8213836622902195,
+            "object_to_finger_line_xy": 0.009985501532729249,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04766669771422795,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.27029309357592535,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.303421991817061,
+              -0.33301196057252447,
+              0.8470218411495611
+            ],
+            "target_position": [
+              0.29594395866133744,
+              -0.3339599347457205,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007537880001110874,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18669597138926985,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470218411495611,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756441031356596,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550689625297946,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544227152433984,
+            "release_required_pad_clearance": 0.05275344812648973,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5567248071540153,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007791996002197266,
+            "max_z_decrease": 0.007791996002197266,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351672813629802,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007791996002197266,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021060390289347808,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007791996002197266,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00779202089124181,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1516438871622085,
+              -0.39022138714790344,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1516438871622085,
+              -0.39022138714790344,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15219880262400026,
+              -0.3890100122896918,
+              0.807823232044342
+            ],
+            "closest_button": [
+              0.15163142979145044,
+              -0.39022698998451233,
+              0.7726815938949585
+            ],
+            "closest_ee_minus_button": [
+              0.0005673728325498173,
+              0.0012169776948205424,
+              0.035141638149383536
+            ],
+            "button_min_z_position": [
+              0.15162423253059384,
+              -0.3902226388454437,
+              0.7690168619155884
+            ],
+            "min_active_finger_to_button": 0.14509752391958267,
+            "closest_active_finger": [
+              0.02481580525636673,
+              -0.45190829038619995,
+              0.8105599880218506
+            ],
+            "closest_active_finger_button": [
+              0.15164367854595182,
+              -0.39022293686866766,
+              0.7764586806297302
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12682787328958509,
+              -0.06168535351753229,
+              0.03410130739212036
+            ],
+            "min_contact_pad_to_button": 0.021060390289347808,
+            "closest_contact_pad": [
+              0.15162423253059384,
+              -0.3902226388454437,
+              0.7900772522049362
+            ],
+            "closest_contact_pad_button": [
+              0.15162423253059384,
+              -0.3902226388454437,
+              0.7690168619155884
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021060390289347808
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1045ad40abacff2ddb2682aa5dedf8d3543d69ae29074a65548e6f7e6a854b0e",
+    "visual_seed": 2009538960098046027,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..304da64db62d30c3707ef9619f5fe969d683fed2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_76_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21950057975669865,
+              0.3058176069771223,
+              1.1581664834002974
+            ],
+            "current_z": 1.1581664834002974,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3015799759917318,
+            "gripper_z": 1.15118642847306,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21507745283128787,
+              0.3011405240635862,
+              1.15118642847306
+            ],
+            "object_minus_gripper": [
+              0.004423126925410775,
+              0.004677082913536079,
+              0.006980054927237411
+            ],
+            "object_to_gripper_xy": 0.00643732525031825,
+            "object_to_gripper_z": 0.006980054927237411,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21950057975669865,
+              0.28167759959656724,
+              1.1581664834002974
+            ],
+            "finger_b": [
+              0.20944109912719572,
+              0.3058176069771223,
+              1.1581664834002974
+            ],
+            "finger_midpoint": [
+              0.21447083944194717,
+              0.2937476032868448,
+              1.1581664834002974
+            ],
+            "object_minus_finger_midpoint": [
+              0.00502974031475148,
+              0.012070003690277498,
+              0.0
+            ],
+            "finger_gap": 0.026152114768572675,
+            "fingertip_max_gap": 0.09052607550001449,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013076057384286317,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1581664834002974,
+            "object_top_z": 1.2036383922499905,
+            "finger_top_clearance": 0.0454719088496931,
+            "fingertip_min_top_clearance": 0.013641572654907962,
+            "object_projection_between_fingers": 0.8520423276500537,
+            "object_to_finger_line_xy": 0.009285518161329349,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047763037750007245,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6475810163389469,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3090698049373809,
+              -0.33120574498186234,
+              0.8470195541194085
+            ],
+            "target_position": [
+              0.3005274761390869,
+              -0.33284147061875674,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008697527215097183,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18698257356004802,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195541194085,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566930069601333,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08833226733929943,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15493801614955452,
+            "release_required_pad_clearance": 0.054166133669649716,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3477213610912027,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007747054100036621,
+            "max_z_decrease": 0.007747054100036621,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035179839243929506,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007747054100036621,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02125456876208794,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007747054100036621,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007747078091368856,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15622739493846888,
+              -0.3891029357910156,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15622739493846888,
+              -0.3891029357910156,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.156316939432737,
+              -0.39085211778785867,
+              0.8080029533977285
+            ],
+            "closest_button": [
+              0.15621680021286008,
+              -0.38911101222038263,
+              0.7728663682937622
+            ],
+            "closest_ee_minus_button": [
+              0.00010013921987692131,
+              -0.0017411055674760312,
+              0.035136585103966333
+            ],
+            "button_min_z_position": [
+              0.15620817244052884,
+              -0.3891044259071349,
+              0.769061803817749
+            ],
+            "min_active_finger_to_button": 0.14585971637286785,
+            "closest_active_finger": [
+              0.015236228704452515,
+              -0.3740420937538147,
+              0.8109046816825867
+            ],
+            "closest_active_finger_button": [
+              0.1562315821647644,
+              -0.38910421729087824,
+              0.7767213582992554
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1409953534603119,
+              0.015062123537063543,
+              0.0341833233833313
+            ],
+            "min_contact_pad_to_button": 0.02125456876208794,
+            "closest_contact_pad": [
+              0.15620817244052884,
+              -0.39208428312083893,
+              0.790106450268765
+            ],
+            "closest_contact_pad_button": [
+              0.15620817244052884,
+              -0.3891044259071349,
+              0.769061803817749
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002979857213704029,
+              0.021044646451016003
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f306642c09f1ded10c37ca0a2926ced2f6fcba0ab9cc385c6d39211b5b6cdda",
+    "visual_seed": 6389541044211510762,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b421fb5820caaea0c968c4225170e316f58c578b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_77_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2240198941431073,
+              0.3092103387604571,
+              1.155546251527338
+            ],
+            "current_z": 1.155546251527338,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.2989596845141277,
+            "gripper_z": 1.1486554834109248,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21947362309233642,
+              0.30446157914377586,
+              1.1486554834109248
+            ],
+            "object_minus_gripper": [
+              0.004546271050770878,
+              0.004748759616681253,
+              0.006890768116413204
+            ],
+            "object_to_gripper_xy": 0.006574138602440629,
+            "object_to_gripper_z": 0.006890768116413204,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2240198941431073,
+              0.2851642196333423,
+              1.155546251527338
+            ],
+            "finger_b": [
+              0.21362514353767956,
+              0.3092103387604571,
+              1.155546251527338
+            ],
+            "finger_midpoint": [
+              0.21882251884039344,
+              0.2971872791968997,
+              1.155546251527338
+            ],
+            "object_minus_finger_midpoint": [
+              0.005197375302713858,
+              0.012023059563557426,
+              0.0
+            ],
+            "finger_gap": 0.026196692257314403,
+            "fingertip_max_gap": 0.09049916775691419,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013098346128657222,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.155546251527338,
+            "object_top_z": 1.200967817772284,
+            "finger_top_clearance": 0.04542156624494598,
+            "fingertip_min_top_clearance": 0.01362646987348376,
+            "object_projection_between_fingers": 0.842552694928352,
+            "object_to_finger_line_xy": 0.009541411140750956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477495838784571,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5620847172308587,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3010682781422348,
+              -0.33530579569765717,
+              0.8470198386088232
+            ],
+            "target_position": [
+              0.29380864047828503,
+              -0.33615533598230407,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007309176267342032,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18524210549709713,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198386088232,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591159896302023,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868059212002698,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15245227370727266,
+            "release_required_pad_clearance": 0.0534029606001349,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.819994393196103,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00754624605178833,
+            "max_z_decrease": 0.00754624605178833,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0352645212366201,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00754624605178833,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02106196087369927,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00754624605178833,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007546269085790543,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14950856566429138,
+              -0.39241680502891535,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14950856566429138,
+              -0.39241680502891535,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15196331239438501,
+              -0.39095145710116014,
+              0.8081992543613091
+            ],
+            "closest_button": [
+              0.14949728548526764,
+              -0.3924216628074646,
+              0.7730517983436584
+            ],
+            "closest_ee_minus_button": [
+              0.0024660269091173748,
+              0.0014702057063044616,
+              0.03514745601765068
+            ],
+            "button_min_z_position": [
+              0.14948993921279907,
+              -0.3924176394939422,
+              0.7692626118659973
+            ],
+            "min_active_finger_to_button": 0.14334263205708944,
+            "closest_active_finger": [
+              0.025043420493602753,
+              -0.4548061788082123,
+              0.8104340434074402
+            ],
+            "closest_active_finger_button": [
+              0.1495075523853302,
+              -0.3924186825752258,
+              0.776322603225708
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12446413189172745,
+              -0.062387496232986506,
+              0.03411144018173218
+            ],
+            "min_contact_pad_to_button": 0.02106196087369927,
+            "closest_contact_pad": [
+              0.14948993921279907,
+              -0.3924176394939422,
+              0.7903245727396966
+            ],
+            "closest_contact_pad_button": [
+              0.14948993921279907,
+              -0.3924176394939422,
+              0.7692626118659973
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106196087369927
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "087330fc489f577a5f71e0c03be0e8d474ffbb94c408055fef86015d74276818",
+    "visual_seed": 9077208793345263535,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de927471df4c52f6644d3419b23ac3b2cde1f429
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_78_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21936801599398267,
+              0.3056505467378215,
+              1.1578084499803554
+            ],
+            "current_z": 1.1578084499803554,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.30122182336250014,
+            "gripper_z": 1.1509953972180198,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21490065040423506,
+              0.30086834537789536,
+              1.1509953972180198
+            ],
+            "object_minus_gripper": [
+              0.004467365589747613,
+              0.00478220135992613,
+              0.00681305276233557
+            ],
+            "object_to_gripper_xy": 0.006544219216937981,
+            "object_to_gripper_z": 0.00681305276233557,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21936801599398267,
+              0.28167330572875793,
+              1.1578084499803554
+            ],
+            "finger_b": [
+              0.2089004036062356,
+              0.3056505467378215,
+              1.1578084499803554
+            ],
+            "finger_midpoint": [
+              0.21413420980010914,
+              0.2936619262332897,
+              1.1578084499803554
+            ],
+            "object_minus_finger_midpoint": [
+              0.005233806193873536,
+              0.01198862050453181,
+              0.0
+            ],
+            "finger_gap": 0.026162549484078108,
+            "fingertip_max_gap": 0.09054020724007625,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013081274742039078,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1578084499803554,
+            "object_top_z": 1.2033068952187276,
+            "finger_top_clearance": 0.04549844523837221,
+            "fingertip_min_top_clearance": 0.013649533571511663,
+            "object_projection_between_fingers": 0.8399207136824088,
+            "object_to_finger_line_xy": 0.009593272443238543,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047770103620038126,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6429237650786513,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3080471819244023,
+              -0.3317750465082962,
+              0.847019596885635
+            ],
+            "target_position": [
+              0.2995894147958514,
+              -0.33348654831454755,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008629198296110578,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.189613460644682,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019596885635,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515620989442562,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857089403815242,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15874658627790417,
+            "release_required_pad_clearance": 0.0528544701907621,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7517302985633068,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007723569869995117,
+            "max_z_decrease": 0.007723569869995117,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035264766910688417,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007723569869995117,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021095728968061223,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007723569869995117,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007723592601649718,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15528933703899384,
+              -0.3897480070590973,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15528933703899384,
+              -0.3897480070590973,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15723386029665012,
+              -0.3880005102588138,
+              0.804318874246909
+            ],
+            "closest_button": [
+              0.1552702784538269,
+              -0.38975071907043457,
+              0.7691523432731628
+            ],
+            "closest_ee_minus_button": [
+              0.00196358184282322,
+              0.001750208811620746,
+              0.03516653097374611
+            ],
+            "button_min_z_position": [
+              0.1552707999944687,
+              -0.38975074887275696,
+              0.7690852880477905
+            ],
+            "min_active_finger_to_button": 0.143271355834369,
+            "closest_active_finger": [
+              0.029471009969711304,
+              -0.449137419462204,
+              0.8103013038635254
+            ],
+            "closest_active_finger_button": [
+              0.15529118478298187,
+              -0.3897507488727569,
+              0.776107907295227
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12582017481327057,
+              -0.05938667058944708,
+              0.03419339656829834
+            ],
+            "min_contact_pad_to_button": 0.021095728968061223,
+            "closest_contact_pad": [
+              0.1552707999944687,
+              -0.38975074887275696,
+              0.7901810170158517
+            ],
+            "closest_contact_pad_button": [
+              0.1552707999944687,
+              -0.38975074887275696,
+              0.7690852880477905
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021095728968061223
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f1f5d4cef0c716a2e18cac2d094cde2ee49fabe88fbf81973da5a99cd4cebc9",
+    "visual_seed": 7152117273361352543,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b22097c3091624f2d63e1582075d88c09912444e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_79_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21958668818623234,
+              0.3007086670474467,
+              1.15531803563975
+            ],
+            "current_z": 1.15531803563975,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.2987315878358293,
+            "gripper_z": 1.1485764368689013,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21508900633765424,
+              0.2958885112970672,
+              1.1485764368689013
+            ],
+            "object_minus_gripper": [
+              0.0044976818485781,
+              0.004820155750379473,
+              0.006741598770848789
+            ],
+            "object_to_gripper_xy": 0.006592650716437601,
+            "object_to_gripper_z": 0.006741598770848789,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21958668818623234,
+              0.27680965850056855,
+              1.15531803563975
+            ],
+            "finger_b": [
+              0.2089458830836205,
+              0.3007086670474467,
+              1.15531803563975
+            ],
+            "finger_midpoint": [
+              0.21426628563492642,
+              0.2887591627740076,
+              1.15531803563975
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053204025513059194,
+              0.011949504273439104,
+              0.0
+            ],
+            "finger_gap": 0.026160836048481424,
+            "fingertip_max_gap": 0.09053627392221703,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013080418024240738,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.15531803563975,
+            "object_top_z": 1.2007493873897903,
+            "finger_top_clearance": 0.045431351750040205,
+            "fingertip_min_top_clearance": 0.01362940552501206,
+            "object_projection_between_fingers": 0.8345580122918184,
+            "object_to_finger_line_xy": 0.009720816705616987,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047768136961108515,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.599685784809039,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3083814520989797,
+              -0.32747350208450865,
+              0.8470198732530608
+            ],
+            "target_position": [
+              0.2993593528750188,
+              -0.32937337831801317,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009219967684847457,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18624324460649988,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198732530608,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577387273290204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522324877059116,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15394722029108018,
+            "release_required_pad_clearance": 0.05261162438529558,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2853050089828375,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007532835006713867,
+            "max_z_decrease": 0.007532835006713867,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035169351150082,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007532835006713867,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021148165260781223,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007532835006713867,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007532855412363251,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15505927801132208,
+              -0.3856348395347595,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15505927801132208,
+              -0.3856348395347595,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1563164334316792,
+              -0.3862406440178073,
+              0.8081545021482166
+            ],
+            "closest_button": [
+              0.1550482958555222,
+              -0.38564231991767883,
+              0.7730131149291992
+            ],
+            "closest_ee_minus_button": [
+              0.0012681375761569857,
+              -0.0005983241001284445,
+              0.035141387219017384
+            ],
+            "button_min_z_position": [
+              0.15504190325737005,
+              -0.3856371939182281,
+              0.7692760229110718
+            ],
+            "min_active_finger_to_button": 0.14485927729636489,
+            "closest_active_finger": [
+              0.015204310417175293,
+              -0.3696361780166626,
+              0.8104623556137085
+            ],
+            "closest_active_finger_button": [
+              0.15505982935428622,
+              -0.3856372535228729,
+              0.7762774229049683
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13985551893711093,
+              0.016001075506210327,
+              0.034184932708740234
+            ],
+            "min_contact_pad_to_button": 0.021148165260781223,
+            "closest_contact_pad": [
+              0.15504190325737005,
+              -0.38745786698075035,
+              0.790345670357024
+            ],
+            "closest_contact_pad_button": [
+              0.15504190325737005,
+              -0.3856371939182281,
+              0.7692760229110718
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00182067306252226,
+              0.02106964744595219
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70989102d1cd77e5707d88f81a0fba0aca2788ec6c9f7c244902daa4b4d72671",
+    "visual_seed": 6631993885831833678,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e224408edfec7ddf5e81efcac3aa3602e45d058
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_7_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22685014685767885,
+              0.30979336396931356,
+              1.1581936800726156
+            ],
+            "current_z": 1.1581936800726156,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.30160729187333957,
+            "gripper_z": 1.151175175229597,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22233765479116804,
+              0.30512488382102454,
+              1.151175175229597
+            ],
+            "object_minus_gripper": [
+              0.004512492066510804,
+              0.004668480148289023,
+              0.007018504843018691
+            ],
+            "object_to_gripper_xy": 0.006492864664020931,
+            "object_to_gripper_z": 0.007018504843018691,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22685014685767885,
+              0.2856499437807661,
+              1.1581936800726156
+            ],
+            "finger_b": [
+              0.21673416550527877,
+              0.30979336396931356,
+              1.1581936800726156
+            ],
+            "finger_midpoint": [
+              0.2217921561814788,
+              0.2977216538750398,
+              1.1581936800726156
+            ],
+            "object_minus_finger_midpoint": [
+              0.005057990676200053,
+              0.012071710094273769,
+              0.0
+            ],
+            "finger_gap": 0.02617704752493811,
+            "fingertip_max_gap": 0.09044305064915786,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013088523762469084,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1581936800726156,
+            "object_top_z": 1.2036013427818286,
+            "finger_top_clearance": 0.04540766270921304,
+            "fingertip_min_top_clearance": 0.013622298812763877,
+            "object_projection_between_fingers": 0.850660491635188,
+            "object_to_finger_line_xy": 0.009330096840670472,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047721525324578934,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5505936698240403,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30828585259431945,
+              -0.3354265003927496,
+              0.847019511504741
+            ],
+            "target_position": [
+              0.3002110245005118,
+              -0.33692871069612224,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008213372300103309,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18717973093140491,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019511504741,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546857514391843,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505517751784501,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1556027029638747,
+            "release_required_pad_clearance": 0.05252758875892251,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.12511451555194705,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007789731025695801,
+            "max_z_decrease": 0.007789731025695801,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141495371896474,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007789731025695801,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104666415461249,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007789731025695801,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077897529050398265,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15591095387935638,
+              -0.3931901752948761,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15591095387935638,
+              -0.3931901752948761,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15518929843688825,
+              -0.3930025705994942,
+              0.8080412927343126
+            ],
+            "closest_button": [
+              0.15589898824691772,
+              -0.393195778131485,
+              0.7729074954986572
+            ],
+            "closest_ee_minus_button": [
+              -0.0007096898100294735,
+              0.0001932075319907578,
+              0.03513379723565535
+            ],
+            "button_min_z_position": [
+              0.1558924913406372,
+              -0.3931902348995209,
+              0.7690191268920898
+            ],
+            "min_active_finger_to_button": 0.1466475638826361,
+            "closest_active_finger": [
+              0.02885470539331436,
+              -0.45798352360725403,
+              0.8108749389648438
+            ],
+            "closest_active_finger_button": [
+              0.15591420233249664,
+              -0.3931904733181,
+              0.7767684459686279
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12705949693918228,
+              -0.06479305028915405,
+              0.03410649299621582
+            ],
+            "min_contact_pad_to_button": 0.02104666415461249,
+            "closest_contact_pad": [
+              0.1558924913406372,
+              -0.3939138172085765,
+              0.7900533490236323
+            ],
+            "closest_contact_pad_button": [
+              0.1558924913406372,
+              -0.3931902348995209,
+              0.7690191268920898
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007235823090556148,
+              0.02103422213154249
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b22e1556229abdf681363b412896ac683e205872d2d805b72e9e647d26d3e0a",
+    "visual_seed": 2086080265999363364,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1711f08db9f2c66b6c4ccb83e632ccde78ddd778
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_80_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22846208163984488,
+              0.30813117078552676,
+              1.1566184968404805
+            ],
+            "current_z": 1.1566184968404805,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3000319298272701,
+            "gripper_z": 1.1496326277235747,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2239743556770499,
+              0.3033866529604264,
+              1.1496326277235747
+            ],
+            "object_minus_gripper": [
+              0.004487725962794981,
+              0.0047445178251003806,
+              0.006985869116905796
+            ],
+            "object_to_gripper_xy": 0.006530706983921371,
+            "object_to_gripper_z": 0.006985869116905796,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22846208163984488,
+              0.2840345655209607,
+              1.1566184968404805
+            ],
+            "finger_b": [
+              0.21819401925887946,
+              0.30813117078552676,
+              1.1566184968404805
+            ],
+            "finger_midpoint": [
+              0.22332805044936216,
+              0.2960828681532437,
+              1.1566184968404805
+            ],
+            "object_minus_finger_midpoint": [
+              0.005134031190482724,
+              0.01204830263228307,
+              0.0
+            ],
+            "finger_gap": 0.026193119141020817,
+            "fingertip_max_gap": 0.09057899838174038,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01309655957051044,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1566184968404805,
+            "object_top_z": 1.2020532277500287,
+            "finger_top_clearance": 0.04543473090954819,
+            "fingertip_min_top_clearance": 0.013630419272864458,
+            "object_projection_between_fingers": 0.846325234109816,
+            "object_to_finger_line_xy": 0.009446200152565016,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047789499190870194,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6764678666454434,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30827857979189355,
+              -0.33701624052267226,
+              0.8470198063910297
+            ],
+            "target_position": [
+              0.3000923567161186,
+              -0.3384351229706978,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008308277537953634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18709559061406458,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198063910297,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530455303523337,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641597113728249,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15591784626602484,
+            "release_required_pad_clearance": 0.053207985568641245,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4369208166517786,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00797271728515625,
+            "max_z_decrease": 0.00797271728515625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351766969704799,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00797271728515625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02120794731126705,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00797271728515625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007972744931198926,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15579228103160858,
+              -0.3946965932846069,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15579228103160858,
+              -0.3946965932846069,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15655384731285385,
+              -0.39615158001480194,
+              0.807855195775795
+            ],
+            "closest_button": [
+              0.1557807624340057,
+              -0.3947035074234008,
+              0.7727168202400208
+            ],
+            "closest_ee_minus_button": [
+              0.0007730848788481404,
+              -0.0014480725914011172,
+              0.03513837553577426
+            ],
+            "button_min_z_position": [
+              0.1557712852954864,
+              -0.39469668269157404,
+              0.7688361406326294
+            ],
+            "min_active_finger_to_button": 0.1452467975643799,
+            "closest_active_finger": [
+              0.015319690108299255,
+              -0.38070547580718994,
+              0.8107264637947083
+            ],
+            "closest_active_finger_button": [
+              0.1557923704385757,
+              -0.3946985900402069,
+              0.7765467762947083
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14047268033027643,
+              0.013993114233016968,
+              0.0341796875
+            ],
+            "min_contact_pad_to_button": 0.02120794731126705,
+            "closest_contact_pad": [
+              0.1557712852954864,
+              -0.3972675025205883,
+              0.7898876943654118
+            ],
+            "closest_contact_pad_button": [
+              0.1557712852954864,
+              -0.39469668269157404,
+              0.7688361406326294
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002570819829014248,
+              0.021051553732782446
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88007bd6d2b096b7d2b38bfa8de99fd3c110cb2859f0176881c5da6a48d113bd",
+    "visual_seed": 803833581316962327,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e4eac3f68a3e2ef73380b2b6a6886fa183a9315
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_81_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22858357760410275,
+              0.2983411310883025,
+              1.1554380017387038
+            ],
+            "current_z": 1.1554380017387038,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.2988513155162039,
+            "gripper_z": 1.1486287454698136,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22397556162510385,
+              0.2936233337480415,
+              1.1486287454698136
+            ],
+            "object_minus_gripper": [
+              0.004608015978998903,
+              0.00471779734026101,
+              0.006809256268890174
+            ],
+            "object_to_gripper_xy": 0.006594802726881455,
+            "object_to_gripper_z": 0.006809256268890174,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22858357760410275,
+              0.2741412568844965,
+              1.1554380017387038
+            ],
+            "finger_b": [
+              0.2183817037613439,
+              0.2983411310883025,
+              1.1554380017387038
+            ],
+            "finger_midpoint": [
+              0.22348264068272333,
+              0.28624119398639947,
+              1.1554380017387038
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051009369213794176,
+              0.012099937101903047,
+              0.0
+            ],
+            "finger_gap": 0.026262371206416307,
+            "fingertip_max_gap": 0.09056050599252191,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013131185603208174,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1554380017387038,
+            "object_top_z": 1.20087670664594,
+            "finger_top_clearance": 0.04543870490723623,
+            "fingertip_min_top_clearance": 0.013631611472170901,
+            "object_projection_between_fingers": 0.8490990318152436,
+            "object_to_finger_line_xy": 0.00940067679713347,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778025299626096,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6511120837714348,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30744493946115575,
+              -0.331832924656838,
+              0.8470194968270639
+            ],
+            "target_position": [
+              0.2996101263860416,
+              -0.3330933456400816,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007935550200016387,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18950749793871483,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194968270639,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563450845410115,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518306389978873,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15739251291460865,
+            "release_required_pad_clearance": 0.05259153194989437,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2470814041413195,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007523953914642334,
+            "max_z_decrease": 0.007523953914642334,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517114374369693,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007523953914642334,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02105126511991622,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007523953914642334,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007523975735038751,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15531004965305326,
+              -0.38935479521751404,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15531004965305326,
+              -0.38935479521751404,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15408744093501028,
+              -0.38842975234935206,
+              0.8081556628262802
+            ],
+            "closest_button": [
+              0.15529893338680267,
+              -0.3893623352050781,
+              0.7730177640914917
+            ],
+            "closest_ee_minus_button": [
+              -0.0012114924517923897,
+              0.0009325828557260607,
+              0.03513789873478845
+            ],
+            "button_min_z_position": [
+              0.1552919745445251,
+              -0.3893560767173767,
+              0.7692849040031433
+            ],
+            "min_active_finger_to_button": 0.14678840809732202,
+            "closest_active_finger": [
+              0.026393398642539978,
+              -0.45071280002593994,
+              0.8103770613670349
+            ],
+            "closest_active_finger_button": [
+              0.15531025826931,
+              -0.3893573880195618,
+              0.7762773036956787
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12891685962677002,
+              -0.06135541200637812,
+              0.0340997576713562
+            ],
+            "min_contact_pad_to_button": 0.02105126511991622,
+            "closest_contact_pad": [
+              0.1552919745445251,
+              -0.3897039282813977,
+              0.7903332949734386
+            ],
+            "closest_contact_pad_button": [
+              0.1552919745445251,
+              -0.3893560767173767,
+              0.7692849040031433
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003478515640210067,
+              0.021048390970295316
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1a9b0d3edbfadabd98879d54a7c3d6ecac22da31c583ec05701b98ee6bbda87",
+    "visual_seed": 1222975716807682078,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc33fc7c7ab02075aaa43f6b477c5748440617b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_82_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22346200575683164,
+              0.3017802325031802,
+              1.155487776288878
+            ],
+            "current_z": 1.155487776288878,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.2989013284849571,
+            "gripper_z": 1.1485040071880446,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2190430796456234,
+              0.2971450876126894,
+              1.1485040071880446
+            ],
+            "object_minus_gripper": [
+              0.0044189261112082545,
+              0.004635144890490828,
+              0.006983769100833426
+            ],
+            "object_to_gripper_xy": 0.006404020310099065,
+            "object_to_gripper_z": 0.006983769100833426,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22346200575683164,
+              0.2777279694981359,
+              1.155487776288878
+            ],
+            "finger_b": [
+              0.21335747940229827,
+              0.3017802325031802,
+              1.155487776288878
+            ],
+            "finger_midpoint": [
+              0.21840974257956497,
+              0.289754101000658,
+              1.155487776288878
+            ],
+            "object_minus_finger_midpoint": [
+              0.005052263177266675,
+              0.012026131502522186,
+              0.0
+            ],
+            "finger_gap": 0.026088557041608933,
+            "fingertip_max_gap": 0.09051452553778525,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013044278520804486,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.155487776288878,
+            "object_top_z": 1.2009344631384218,
+            "finger_top_clearance": 0.04544668684954378,
+            "fingertip_min_top_clearance": 0.013634006054863134,
+            "object_projection_between_fingers": 0.8499859956022751,
+            "object_to_finger_line_xy": 0.009315836250851929,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047757262768892625,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5981113853141634,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30010347197673914,
+              -0.3301427543829616,
+              0.8470195877730639
+            ],
+            "target_position": [
+              0.2927922896685198,
+              -0.3308603973601436,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007346318682627274,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18655131745632042,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195877730639,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755717220524245,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862306474645219,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.154423784039164,
+            "release_required_pad_clearance": 0.05311532373226095,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2573915664112447,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00765460729598999,
+            "max_z_decrease": 0.00765460729598999,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516022850832985,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00765460729598999,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02119106864917292,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00765460729598999,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007654630494497235,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1484922170639038,
+              -0.38712185621261597,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1484922170639038,
+              -0.38712185621261597,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14897908703179102,
+              -0.38859380878456046,
+              0.8079272367299285
+            ],
+            "closest_button": [
+              0.1484819650650024,
+              -0.3871263861656189,
+              0.7728011608123779
+            ],
+            "closest_ee_minus_button": [
+              0.0004971219667886106,
+              -0.0014674226189415607,
+              0.03512607591755057
+            ],
+            "button_min_z_position": [
+              0.14847338199615479,
+              -0.3871212303638458,
+              0.7691542506217957
+            ],
+            "min_active_finger_to_button": 0.14554327143342188,
+            "closest_active_finger": [
+              0.007560402154922485,
+              -0.3748999834060669,
+              0.81081622838974
+            ],
+            "closest_active_finger_button": [
+              0.14849236607551575,
+              -0.38712283968925476,
+              0.776587188243866
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14093196392059326,
+              0.012222856283187866,
+              0.03422904014587402
+            ],
+            "min_contact_pad_to_button": 0.02119106864917292,
+            "closest_contact_pad": [
+              0.14847338199615479,
+              -0.38951819741564797,
+              0.7902093198320009
+            ],
+            "closest_contact_pad_button": [
+              0.14847338199615479,
+              -0.3871212303638458,
+              0.7691542506217957
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023969670518021458,
+              0.02105506921020528
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "111b1182714e271d1b94914772d34979654d1eb3606ac754e0811279a6d19c9f",
+    "visual_seed": 946302953004709267,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aa1439fc89064e71839960cf1b89a2780db6bc2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_83_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2193511855856887,
+              0.3012713370647202,
+              1.1550380510767304
+            ],
+            "current_z": 1.1550380510767304,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.29845154366816484,
+            "gripper_z": 1.1481587555963189,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21511692682300698,
+              0.29650870353518827,
+              1.1481587555963189
+            ],
+            "object_minus_gripper": [
+              0.004234258762681714,
+              0.004762633529531934,
+              0.006879295480411551
+            ],
+            "object_to_gripper_xy": 0.006372725116146835,
+            "object_to_gripper_z": 0.006879295480411551,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2193511855856887,
+              0.2775801263759333,
+              1.1550380510767304
+            ],
+            "finger_b": [
+              0.20874952045243225,
+              0.3012713370647202,
+              1.1550380510767304
+            ],
+            "finger_midpoint": [
+              0.21405035301906047,
+              0.28942573172032676,
+              1.1550380510767304
+            ],
+            "object_minus_finger_midpoint": [
+              0.005300832566628222,
+              0.01184560534439344,
+              0.0
+            ],
+            "finger_gap": 0.025955129887908383,
+            "fingertip_max_gap": 0.0904983427837727,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012977564943954191,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1550380510767304,
+            "object_top_z": 1.2004828628084545,
+            "finger_top_clearance": 0.0454448117317241,
+            "fingertip_min_top_clearance": 0.013633443519517263,
+            "object_projection_between_fingers": 0.8331593966941528,
+            "object_to_finger_line_xy": 0.009676941838035415,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04774917139188635,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.717639258701593,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3045392383538926,
+              -0.33472131383299253,
+              0.8470196930974762
+            ],
+            "target_position": [
+              0.2971982001346297,
+              -0.33570647106653206,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007406846624000932,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18811308553132208,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196930974762,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535706876529227,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613920503634119,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1566188422229344,
+            "release_required_pad_clearance": 0.0530696025181706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1676658702235054,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007646501064300537,
+            "max_z_decrease": 0.007646501064300537,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516350971195835,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007646501064300537,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021092128052954257,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007646501064300537,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007646522803250871,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15289813280105585,
+              -0.3919679224491118,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15289813280105585,
+              -0.3919679224491118,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15409717422563046,
+              -0.3921831633804335,
+              0.8081456975116147
+            ],
+            "closest_button": [
+              0.15288713574409477,
+              -0.39197373390197743,
+              0.7730036377906799
+            ],
+            "closest_ee_minus_button": [
+              0.0012100384815356968,
+              -0.00020942947845609128,
+              0.03514205972093476
+            ],
+            "button_min_z_position": [
+              0.15287993848323814,
+              -0.3919691145420074,
+              0.7691623568534851
+            ],
+            "min_active_finger_to_button": 0.1449577116965353,
+            "closest_active_finger": [
+              0.012832246720790863,
+              -0.3769308030605316,
+              0.8104487657546997
+            ],
+            "closest_active_finger_button": [
+              0.15289807319641108,
+              -0.39197000861167897,
+              0.7762709259986877
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14006582647562021,
+              0.01503920555114735,
+              0.03417783975601196
+            ],
+            "min_contact_pad_to_button": 0.021092128052954257,
+            "closest_contact_pad": [
+              0.15287993848323814,
+              -0.3932208679656122,
+              0.7902173082704016
+            ],
+            "closest_contact_pad_button": [
+              0.15287993848323814,
+              -0.3919691145420074,
+              0.7691623568534851
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012517534236047845,
+              0.02105495141691649
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d527b5ff217047e19f3517707e4074686385d5ed080e1cd4e92ba36be1c8a045",
+    "visual_seed": 3890097527173733193,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..305349870f15e4232c3ddbe96b38ddd709bcc5cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_84_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22961120108596855,
+              0.307371163934153,
+              1.1586223720602187
+            ],
+            "current_z": 1.1586223720602187,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3020358646516531,
+            "gripper_z": 1.1517118560737252,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22494643159959696,
+              0.3025386014584453,
+              1.1517118560737252
+            ],
+            "object_minus_gripper": [
+              0.004664769486371595,
+              0.00483256247570768,
+              0.006910515986493504
+            ],
+            "object_to_gripper_xy": 0.006716675847664636,
+            "object_to_gripper_z": 0.006910515986493504,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22961120108596855,
+              0.283683199968712,
+              1.1586223720602187
+            ],
+            "finger_b": [
+              0.21849484754230483,
+              0.307371163934153,
+              1.1586223720602187
+            ],
+            "finger_midpoint": [
+              0.2240530243141367,
+              0.29552718195143246,
+              1.1586223720602187
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055581767718318464,
+              0.01184398198272052,
+              0.0
+            ],
+            "finger_gap": 0.026166638166485113,
+            "fingertip_max_gap": 0.0903209183201718,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013083319083242577,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1586223720602187,
+            "object_top_z": 1.2041455618530812,
+            "finger_top_clearance": 0.04552318979286252,
+            "fingertip_min_top_clearance": 0.013656956937858756,
+            "object_projection_between_fingers": 0.819520099370265,
+            "object_to_finger_line_xy": 0.010063340215659786,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047660459160085905,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.39527170440503284,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30934356045484696,
+              -0.33339016617425876,
+              0.8470189974402162
+            ],
+            "target_position": [
+              0.3018520741270797,
+              -0.3345432968614321,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007579714887832156,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848542738264632,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189974402162,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579047816675054,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603512650415883,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15249727641212096,
+            "release_required_pad_clearance": 0.05301756325207942,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.065314643719353,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007728517055511475,
+            "max_z_decrease": 0.007728517055511475,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520832452186126,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007728517055511475,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105089110994962,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007728517055511475,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007728539897420285,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15755200386047355,
+              -0.3908047676086425,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15755200386047355,
+              -0.3908047676086425,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15669406549737439,
+              -0.3888202286911386,
+              0.8080354498865393
+            ],
+            "closest_button": [
+              0.15754066407680503,
+              -0.39081028103828425,
+              0.7728936076164246
+            ],
+            "closest_ee_minus_button": [
+              -0.0008465985794306463,
+              0.0019900523471456655,
+              0.03514184227011474
+            ],
+            "button_min_z_position": [
+              0.1575332880020141,
+              -0.39080643653869623,
+              0.7690803408622742
+            ],
+            "min_active_finger_to_button": 0.1459905590477141,
+            "closest_active_finger": [
+              0.02978004515171051,
+              -0.4526464343070984,
+              0.8108367919921875
+            ],
+            "closest_active_finger_button": [
+              0.15755563974380485,
+              -0.3908041417598723,
+              0.7767461538314819
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12777559459209434,
+              -0.06184229254722606,
+              0.034090638160705566
+            ],
+            "min_contact_pad_to_button": 0.02105089110994962,
+            "closest_contact_pad": [
+              0.1575332880020141,
+              -0.39080643653869623,
+              0.7901312319722238
+            ],
+            "closest_contact_pad_button": [
+              0.1575332880020141,
+              -0.39080643653869623,
+              0.7690803408622742
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105089110994962
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8908acb7ef7cc448b9fb5fb822c31398e67c3654b34497bb6cf501593bb024e1",
+    "visual_seed": 4642388702891494910,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea061f58eb28612084ff30c6dfa4482db5e92227
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_85_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2261900322721659,
+              0.30193760768998784,
+              1.155382431991961
+            ],
+            "current_z": 1.155382431991961,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.29879592458339543,
+            "gripper_z": 1.14838356929658,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22162136452990971,
+              0.29710271846177944,
+              1.14838356929658
+            ],
+            "object_minus_gripper": [
+              0.004568667742256172,
+              0.0048348892282084055,
+              0.00699886269538097
+            ],
+            "object_to_gripper_xy": 0.006651983071849911,
+            "object_to_gripper_z": 0.00699886269538097,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2261900322721659,
+              0.27819434751611843,
+              1.155382431991961
+            ],
+            "finger_b": [
+              0.2152186108030387,
+              0.30193760768998784,
+              1.155382431991961
+            ],
+            "finger_midpoint": [
+              0.22070432153760228,
+              0.29006597760305314,
+              1.155382431991961
+            ],
+            "object_minus_finger_midpoint": [
+              0.005485710734563609,
+              0.011871630086934704,
+              0.0
+            ],
+            "finger_gap": 0.02615558243926673,
+            "fingertip_max_gap": 0.09040717654903396,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01307779121963337,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.155382431991961,
+            "object_top_z": 1.2008536814936277,
+            "finger_top_clearance": 0.0454712495016667,
+            "fingertip_min_top_clearance": 0.013641374850500043,
+            "object_projection_between_fingers": 0.8240468659396581,
+            "object_to_finger_line_xy": 0.009959530246498568,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047703588274516984,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2033234442415026,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30006185541576136,
+              -0.32963282719811443,
+              0.8470196069817617
+            ],
+            "target_position": [
+              0.2924654010522738,
+              -0.33071456527209564,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007673087785060821,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18636602420507403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196069817617,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577648974237866,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496542033733177,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15390144237949774,
+            "release_required_pad_clearance": 0.05248271016866589,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956463068425464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007582366466522217,
+            "max_z_decrease": 0.007582366466522217,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035177381995505616,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007582366466522217,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021058653117354997,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007582366466522217,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007582387444623691,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14816533029079432,
+              -0.386976033449173,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14816533029079432,
+              -0.386976033449173,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14918360175556367,
+              -0.38548116947081806,
+              0.8080187553043243
+            ],
+            "closest_button": [
+              0.14815314114093778,
+              -0.3869798481464386,
+              0.7728884220123291
+            ],
+            "closest_ee_minus_button": [
+              0.0010304606146258888,
+              0.001498678675620535,
+              0.03513033329199522
+            ],
+            "button_min_z_position": [
+              0.14814750850200648,
+              -0.3869767487049103,
+              0.7692264914512634
+            ],
+            "min_active_finger_to_button": 0.1445805661003027,
+            "closest_active_finger": [
+              0.023011915385723114,
+              -0.45079663395881653,
+              0.8108450770378113
+            ],
+            "closest_active_finger_button": [
+              0.14816705882549283,
+              -0.38697633147239685,
+              0.7766880989074707
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12515514343976972,
+              -0.06382030248641968,
+              0.034156978130340576
+            ],
+            "min_contact_pad_to_button": 0.021058653117354997,
+            "closest_contact_pad": [
+              0.14814750850200648,
+              -0.3869767487049103,
+              0.7902851445686184
+            ],
+            "closest_contact_pad_button": [
+              0.14814750850200648,
+              -0.3869767487049103,
+              0.7692264914512634
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021058653117354997
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "459e325b63b2dc3a33da4a65464d750301d499b68b91176fc022bae5ba43d01b",
+    "visual_seed": 4992277645423003903,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1d82dc45bcac7bb8b67bd3238b28dce4a7cdf80
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_86_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22558635368407878,
+              0.30243993443069045,
+              1.1574177994147306
+            ],
+            "current_z": 1.1574177994147306,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.30083117279687543,
+            "gripper_z": 1.150406130162506,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22123393189251384,
+              0.2977316671335557,
+              1.150406130162506
+            ],
+            "object_minus_gripper": [
+              0.004352421791564948,
+              0.0047082672971347495,
+              0.007011669252224628
+            ],
+            "object_to_gripper_xy": 0.006411813814589284,
+            "object_to_gripper_z": 0.007011669252224628,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22558635368407878,
+              0.27848342585312097,
+              1.1574177994147306
+            ],
+            "finger_b": [
+              0.21531005967066935,
+              0.30243993443069045,
+              1.1574177994147306
+            ],
+            "finger_midpoint": [
+              0.22044820667737408,
+              0.2904616801419057,
+              1.1574177994147306
+            ],
+            "object_minus_finger_midpoint": [
+              0.005138147006704702,
+              0.01197825428878474,
+              0.0
+            ],
+            "finger_gap": 0.02606753770261385,
+            "fingertip_max_gap": 0.09058556473996943,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01303376885130692,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1574177994147306,
+            "object_top_z": 1.2028333893325185,
+            "finger_top_clearance": 0.045415589917787935,
+            "fingertip_min_top_clearance": 0.01362467697533638,
+            "object_projection_between_fingers": 0.8445921250622374,
+            "object_to_finger_line_xy": 0.009444088217552795,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047792782369984715,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5655251700230308,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3021560770327678,
+              -0.3385446915375649,
+              0.8470195528057053
+            ],
+            "target_position": [
+              0.29515942730577005,
+              -0.33917785266094985,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007025240238629847,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18753251728721787,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195528057053,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562988904747796,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502592176266997,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15527635684647978,
+            "release_required_pad_clearance": 0.05251296088133499,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691301938368209,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077016353607177734,
+            "max_z_decrease": 0.0077016353607177734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515074591656756,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077016353607177734,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115565947248801,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0077016353607177734,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00770165919982004,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15085935592651364,
+              -0.39543929696083063,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15085935592651364,
+              -0.39543929696083063,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15068733390241934,
+              -0.39638346061634816,
+              0.808064940549139
+            ],
+            "closest_button": [
+              0.15084692835807795,
+              -0.3954465389251709,
+              0.7729270458221436
+            ],
+            "closest_ee_minus_button": [
+              -0.00015959445565860708,
+              -0.0009369216911772615,
+              0.03513789472699547
+            ],
+            "button_min_z_position": [
+              0.15084020793437955,
+              -0.3954400420188903,
+              0.7691072225570679
+            ],
+            "min_active_finger_to_button": 0.14618502025201963,
+            "closest_active_finger": [
+              0.009703002870082855,
+              -0.3787926733493805,
+              0.8109535574913025
+            ],
+            "closest_active_finger_button": [
+              0.15086203813552856,
+              -0.39544048905372614,
+              0.7767916321754456
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1411590352654457,
+              0.016647815704345648,
+              0.034161925315856934
+            ],
+            "min_contact_pad_to_button": 0.02115565947248801,
+            "closest_contact_pad": [
+              0.15084020793437955,
+              -0.39765183224900474,
+              0.7901469447913048
+            ],
+            "closest_contact_pad_button": [
+              0.15084020793437955,
+              -0.3954400420188903,
+              0.7691072225570679
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022117902301144188,
+              0.02103972223423689
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ad68be161d9d846f0398720a2e3922642395671ad56a95a22bb69c1145d5b5b",
+    "visual_seed": 6467936522821146702,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a780a345879829e2e89aa30a27258da08f8e0d02
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_87_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22580715980238006,
+              0.30434451258786266,
+              1.1565109477267093
+            ],
+            "current_z": 1.1565109477267093,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.2999243807134989,
+            "gripper_z": 1.1496156513967646,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22124621062778116,
+              0.29959770598767055,
+              1.1496156513967646
+            ],
+            "object_minus_gripper": [
+              0.0045609491745988995,
+              0.0047468066001921105,
+              0.006895296329944678
+            ],
+            "object_to_gripper_xy": 0.006582889204057879,
+            "object_to_gripper_z": 0.006895296329944678,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22580715980238006,
+              0.28028061434875884,
+              1.1565109477267093
+            ],
+            "finger_b": [
+              0.21542552272342697,
+              0.30434451258786266,
+              1.1565109477267093
+            ],
+            "finger_midpoint": [
+              0.22061634126290353,
+              0.29231256346831075,
+              1.1565109477267093
+            ],
+            "object_minus_finger_midpoint": [
+              0.005190818539476533,
+              0.01203194911955191,
+              0.0
+            ],
+            "finger_gap": 0.026207815378261456,
+            "fingertip_max_gap": 0.09067392165245827,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013103907689130723,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1565109477267093,
+            "object_top_z": 1.2019494739657572,
+            "finger_top_clearance": 0.04543852623904798,
+            "fingertip_min_top_clearance": 0.013631557871714427,
+            "object_projection_between_fingers": 0.8430829828035952,
+            "object_to_finger_line_xy": 0.009532372485745389,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783696082622914,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6575715509894163,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3041517484128,
+              -0.33421980417079644,
+              0.8470195165105562
+            ],
+            "target_position": [
+              0.29585758820166574,
+              -0.33562426371582954,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008412229206434968,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18666580958378953,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195165105562,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517332054381219,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500769995036749,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15573932910270433,
+            "release_required_pad_clearance": 0.052503849975183745,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912767898569044,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007603108882904053,
+            "max_z_decrease": 0.007603108882904053,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520555291989159,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007603108882904053,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106706661889625,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007603108882904053,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00760313024026277,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.151557520031929,
+              -0.3918857276439667,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.151557520031929,
+              -0.3918857276439667,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1532120528178486,
+              -0.39070999035588583,
+              0.8081233844354069
+            ],
+            "closest_button": [
+              0.15154717862606043,
+              -0.39189270138740545,
+              0.7729771137237549
+            ],
+            "closest_ee_minus_button": [
+              0.0016648741917881793,
+              0.0011827110315196232,
+              0.035146270711651995
+            ],
+            "button_min_z_position": [
+              0.15153957903385157,
+              -0.3918874263763428,
+              0.7692057490348816
+            ],
+            "min_active_finger_to_button": 0.14417033876482438,
+            "closest_active_finger": [
+              0.02551347017288208,
+              -0.4529951512813568,
+              0.8103521466255188
+            ],
+            "closest_active_finger_button": [
+              0.1515581756830215,
+              -0.3918880820274353,
+              0.7762384414672852
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260447055101394,
+              -0.06110706925392151,
+              0.03411370515823364
+            ],
+            "min_contact_pad_to_button": 0.02106706661889625,
+            "closest_contact_pad": [
+              0.15153957903385157,
+              -0.3919275265487045,
+              0.7902727774893454
+            ],
+            "closest_contact_pad_button": [
+              0.15153957903385157,
+              -0.3918874263763428,
+              0.7692057490348816
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -4.010017236172336e-05,
+              0.021067028454463843
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2def2cb2f679554e9cd0f20c06da79120503e44086a628b29f403289a757e526",
+    "visual_seed": 3200330426516656092,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7bebed269a81765ef6dc7b57056df2b54e530fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_88_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2250751958998107,
+              0.3045824071186438,
+              1.1570535088319522
+            ],
+            "current_z": 1.1570535088319522,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.3004668822140971,
+            "gripper_z": 1.1500195104990372,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22062105506163657,
+              0.2998013454986328,
+              1.1500195104990372
+            ],
+            "object_minus_gripper": [
+              0.0044541408381741365,
+              0.004781061620011018,
+              0.00703399833291507
+            ],
+            "object_to_gripper_xy": 0.006534364607261594,
+            "object_to_gripper_z": 0.00703399833291507,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2250751958998107,
+              0.2807731263075789,
+              1.1570535088319522
+            ],
+            "finger_b": [
+              0.21441212015343608,
+              0.3045824071186438,
+              1.1570535088319522
+            ],
+            "finger_midpoint": [
+              0.21974365802662338,
+              0.29267776671311135,
+              1.1570535088319522
+            ],
+            "object_minus_finger_midpoint": [
+              0.005331537873187325,
+              0.011904640405532463,
+              0.0
+            ],
+            "finger_gap": 0.026087986451872196,
+            "fingertip_max_gap": 0.09050939157176202,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013043993225936103,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1570535088319522,
+            "object_top_z": 1.2024317006849037,
+            "finger_top_clearance": 0.045378191852951444,
+            "fingertip_min_top_clearance": 0.013613457555885432,
+            "object_projection_between_fingers": 0.8329356181793388,
+            "object_to_finger_line_xy": 0.009731688768830578,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04775469578588101,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.20334403832059655,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3084861327630204,
+              -0.33249324067872255,
+              0.8470194946551182
+            ],
+            "target_position": [
+              0.30034133856817463,
+              -0.33394177934661656,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008272601570774299,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18706765835409195,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194946551182,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560784314866044,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854559408891039,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551617013536662,
+            "release_required_pad_clearance": 0.05272797044455195,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5082179382919068,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007639288902282715,
+            "max_z_decrease": 0.007639288902282715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035210413518222995,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007639288902282715,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021061136690577298,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007639288902282715,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007639311586056891,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15604126453399658,
+              -0.39020323753356934,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15604126453399658,
+              -0.39020323753356934,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15695026969225953,
+              -0.3883012571932857,
+              0.8081259582642564
+            ],
+            "closest_button": [
+              0.15603014826774597,
+              -0.39020922780036926,
+              0.7729793190956116
+            ],
+            "closest_ee_minus_button": [
+              0.0009201214245135592,
+              0.0019079706070835867,
+              0.0351466391686448
+            ],
+            "button_min_z_position": [
+              0.15602271258831024,
+              -0.39020478725433344,
+              0.7691695690155029
+            ],
+            "min_active_finger_to_button": 0.14449275862113373,
+            "closest_active_finger": [
+              0.02997664362192154,
+              -0.45203596353530884,
+              0.8103451728820801
+            ],
+            "closest_active_finger_button": [
+              0.1560409814119339,
+              -0.39020505547523493,
+              0.7762441635131836
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12606433779001236,
+              -0.06183090806007391,
+              0.034101009368896484
+            ],
+            "min_contact_pad_to_button": 0.021061136690577298,
+            "closest_contact_pad": [
+              0.15602271258831024,
+              -0.39020478725433344,
+              0.7902307057060802
+            ],
+            "closest_contact_pad_button": [
+              0.15602271258831024,
+              -0.39020478725433344,
+              0.7691695690155029
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021061136690577298
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e260c0a6c84b76bb560d8c93f23ab57a2f308c9364c42b1acf5511dc6b83bff",
+    "visual_seed": 9187674094145057583,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc505d4ee23db8cbcc3542148695688f2a15d35
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_89_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2243045074331228,
+              0.3074411932749945,
+              1.1545139156575652
+            ],
+            "current_z": 1.1545139156575652,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.2979273486443551,
+            "gripper_z": 1.147739412745426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21980159706979377,
+              0.3026084544613973,
+              1.147739412745426
+            ],
+            "object_minus_gripper": [
+              0.004502910363329032,
+              0.004832738813597193,
+              0.006774502912139324
+            ],
+            "object_to_gripper_xy": 0.0066054194553127965,
+            "object_to_gripper_z": 0.006774502912139324,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2243045074331228,
+              0.28357091040506327,
+              1.1545139156575652
+            ],
+            "finger_b": [
+              0.21359638299990985,
+              0.3074411932749945,
+              1.1545139156575652
+            ],
+            "finger_midpoint": [
+              0.21895044521651633,
+              0.29550605184002887,
+              1.1545139156575652
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053540622166064755,
+              0.011935141434965602,
+              0.0
+            ],
+            "finger_gap": 0.026162078150783495,
+            "fingertip_max_gap": 0.0905691681795614,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013081039075391748,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1545139156575652,
+            "object_top_z": 1.1999113816355722,
+            "finger_top_clearance": 0.04539746597800698,
+            "fingertip_min_top_clearance": 0.01361923979340206,
+            "object_projection_between_fingers": 0.8324739528691426,
+            "object_to_finger_line_xy": 0.009770093864640497,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477845840897807,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6941993521623113,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30810144039293996,
+              -0.3359267239972673,
+              0.8470194954100417
+            ],
+            "target_position": [
+              0.30005613864332503,
+              -0.33728600419364396,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008159321227566593,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18879359639871043,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194954100417,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521948810261694,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670917509820573,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1576654347975546,
+            "release_required_pad_clearance": 0.05335458754910287,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7255082333272627,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007855355739593506,
+            "max_z_decrease": 0.007855355739593506,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03525022960983128,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007855355739593506,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021063319311968254,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007855355739593506,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007855379499939684,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15575607120990753,
+              -0.3935474753379821,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15575607120990753,
+              -0.3935474753379821,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15758727625265978,
+              -0.391570590265459,
+              0.8079176866899959
+            ],
+            "closest_button": [
+              0.155745729804039,
+              -0.3935544192790985,
+              0.7727715373039246
+            ],
+            "closest_ee_minus_button": [
+              0.0018415464486207789,
+              0.0019838290136395265,
+              0.0351461493860713
+            ],
+            "button_min_z_position": [
+              0.1557367891073227,
+              -0.3935486972332,
+              0.7689535021781921
+            ],
+            "min_active_finger_to_button": 0.14365951620107204,
+            "closest_active_finger": [
+              0.03082193434238434,
+              -0.45572352409362793,
+              0.8107228875160217
+            ],
+            "closest_active_finger_button": [
+              0.15575698018074036,
+              -0.39355000853538513,
+              0.7766091823577881
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12493504583835602,
+              -0.0621735155582428,
+              0.03411370515823364
+            ],
+            "min_contact_pad_to_button": 0.021063319311968254,
+            "closest_contact_pad": [
+              0.1557367891073227,
+              -0.3935486972332,
+              0.7900168214901604
+            ],
+            "closest_contact_pad_button": [
+              0.1557367891073227,
+              -0.3935486972332,
+              0.7689535021781921
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021063319311968254
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07618944ddca8391393411ed38fb61dc1657fffdbbec5243fcae1d58887d58c8",
+    "visual_seed": 8935609490312841090,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94596201d3fc87f05e2c0592006d652c27d70671
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_8_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2271106726060086,
+              0.3066316150538648,
+              1.156430979774831
+            ],
+            "current_z": 1.156430979774831,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.29984441276162055,
+            "gripper_z": 1.1495219506778123,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22262305905837662,
+              0.301857783758872,
+              1.1495219506778123
+            ],
+            "object_minus_gripper": [
+              0.004487613547631969,
+              0.004773831294992814,
+              0.006909029097018626
+            ],
+            "object_to_gripper_xy": 0.006551957004280687,
+            "object_to_gripper_z": 0.006909029097018626,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2271106726060086,
+              0.2826964377087336,
+              1.156430979774831
+            ],
+            "finger_b": [
+              0.2165855783514012,
+              0.3066316150538648,
+              1.156430979774831
+            ],
+            "finger_midpoint": [
+              0.2218481254787049,
+              0.2946640263812992,
+              1.156430979774831
+            ],
+            "object_minus_finger_midpoint": [
+              0.005262547127303702,
+              0.011967588672565643,
+              0.0
+            ],
+            "finger_gap": 0.02614709015571815,
+            "fingertip_max_gap": 0.09045889749711364,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013073545077859102,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.156430979774831,
+            "object_top_z": 1.2018250010832208,
+            "finger_top_clearance": 0.045394021308389876,
+            "fingertip_min_top_clearance": 0.013618206392516962,
+            "object_projection_between_fingers": 0.8379663337100473,
+            "object_to_finger_line_xy": 0.009634724019305724,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04772944874855682,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5917872790561592,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30440364914057033,
+              -0.3282195929742918,
+              0.8470199138076709
+            ],
+            "target_position": [
+              0.29545470198625534,
+              -0.3299148444577405,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009108102588511907,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18870839981263546,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199138076709,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526480619211005,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08691416840406739,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1576650213232843,
+            "release_required_pad_clearance": 0.0534570842020337,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9273547733253427,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007584095001220703,
+            "max_z_decrease": 0.007584095001220703,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035146475507074414,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007584095001220703,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021064159829686648,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007584095001220703,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007584116920338656,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1511546224355697,
+              -0.3861762881278991,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1511546224355697,
+              -0.3861762881278991,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1500954238134794,
+              -0.38624858798984774,
+              0.8080039940737069
+            ],
+            "closest_button": [
+              0.1511438339948654,
+              -0.3861815929412841,
+              0.7728732228279114
+            ],
+            "closest_ee_minus_button": [
+              -0.0010484101813859892,
+              -6.699504856361171e-05,
+              0.035130771245795556
+            ],
+            "button_min_z_position": [
+              0.15113639831542966,
+              -0.38617688417434687,
+              0.7692247629165649
+            ],
+            "min_active_finger_to_button": 0.14705264860781797,
+            "closest_active_finger": [
+              0.023185499012470245,
+              -0.45009157061576843,
+              0.8107811212539673
+            ],
+            "closest_active_finger_button": [
+              0.15115526318550104,
+              -0.38617816567420954,
+              0.7766739726066589
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1279697641730308,
+              -0.0639134049415589,
+              0.03410714864730835
+            ],
+            "min_contact_pad_to_button": 0.021064159829686648,
+            "closest_contact_pad": [
+              0.15113639831542966,
+              -0.38729464091890436,
+              0.7902592453012252
+            ],
+            "closest_contact_pad_button": [
+              0.15113639831542966,
+              -0.38617688417434687,
+              0.7692247629165649
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011177567445574965,
+              0.021034482384660214
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20565f0329919fea2169744d8242619bad9d9d5aff6e3714b851aa4ac9ee61bf",
+    "visual_seed": 5722131395345073623,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fde452225221dd4a505cd74de0a2e8e1c8e7761
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_90_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22903394457906417,
+              0.3090348994406016,
+              1.1560961742391829
+            ],
+            "current_z": 1.1560961742391829,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.2995096668306173,
+            "gripper_z": 1.1490441621467742,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22449528926595017,
+              0.304271392300804,
+              1.1490441621467742
+            ],
+            "object_minus_gripper": [
+              0.0045386553131140095,
+              0.004763507139797563,
+              0.007052012092408688
+            ],
+            "object_to_gripper_xy": 0.006579543473688762,
+            "object_to_gripper_z": 0.007052012092408688,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22903394457906417,
+              0.28525978699016374,
+              1.1560961742391829
+            ],
+            "finger_b": [
+              0.21824758956340107,
+              0.3090348994406016,
+              1.1560961742391829
+            ],
+            "finger_midpoint": [
+              0.22364076707123262,
+              0.29714734321538266,
+              1.1560961742391829
+            ],
+            "object_minus_finger_midpoint": [
+              0.005393177507831554,
+              0.01188755622521892,
+              0.0
+            ],
+            "finger_gap": 0.02610749751613289,
+            "fingertip_max_gap": 0.0905755939181061,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013053748758066445,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1560961742391829,
+            "object_top_z": 1.2014427112026742,
+            "finger_top_clearance": 0.045346536963491335,
+            "fingertip_min_top_clearance": 0.013603961089047401,
+            "object_projection_between_fingers": 0.8293057350070672,
+            "object_to_finger_line_xy": 0.009822726336343256,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778779695905305,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.32722748248485645,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3094666353948067,
+              -0.3316289506152156,
+              0.8470191664014046
+            ],
+            "target_position": [
+              0.3017964192554938,
+              -0.3328594841612631,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007768296366110422,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18746716298168645,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191664014046,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589353212300187,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566159789901738,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15480405638657788,
+            "release_required_pad_clearance": 0.05283079894950869,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7021995540970245,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007662832736968994,
+            "max_z_decrease": 0.007662832736968994,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517401735652717,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007662832736968994,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021062079569882708,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007662832736968994,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007662854101556296,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15749634802341458,
+              -0.3891209363937377,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15749634802341458,
+              -0.3891209363937377,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15773234868929256,
+              -0.3876935376646102,
+              0.8080885510810261
+            ],
+            "closest_button": [
+              0.15748544037342066,
+              -0.3891271650791167,
+              0.7729446291923523
+            ],
+            "closest_ee_minus_button": [
+              0.0002469083158719021,
+              0.001433627414506533,
+              0.03514392188867377
+            ],
+            "button_min_z_position": [
+              0.15747837722301478,
+              -0.3891230523586272,
+              0.7691460251808167
+            ],
+            "min_active_finger_to_button": 0.14528243726283235,
+            "closest_active_finger": [
+              0.03055204451084137,
+              -0.4509989023208618,
+              0.8109158873558044
+            ],
+            "closest_active_finger_button": [
+              0.1574958562850952,
+              -0.389122039079666,
+              0.7768056392669678
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12694381177425382,
+              -0.06187686324119579,
+              0.03411024808883667
+            ],
+            "min_contact_pad_to_button": 0.021062079569882708,
+            "closest_contact_pad": [
+              0.15747837722301478,
+              -0.3891230523586272,
+              0.7902081047506994
+            ],
+            "closest_contact_pad_button": [
+              0.15747837722301478,
+              -0.3891230523586272,
+              0.7691460251808167
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021062079569882708
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "811bd104dfcb196d30e2e0f2e2bfc9287b947c3b5cc8a5a5eb56681643f689fa",
+    "visual_seed": 2216601962428898645,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..233485ac6524e9d036bf79c9686558174879de4f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_91_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2216655332814371,
+              0.3097634342224201,
+              1.158662378215188
+            ],
+            "current_z": 1.158662378215188,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3020759304112671,
+            "gripper_z": 1.1516686286825253,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21733280089745055,
+              0.3050447511860548,
+              1.1516686286825253
+            ],
+            "object_minus_gripper": [
+              0.004332732383986543,
+              0.004718683036365301,
+              0.00699374953266263
+            ],
+            "object_to_gripper_xy": 0.006406132960603251,
+            "object_to_gripper_z": 0.00699374953266263,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2216655332814371,
+              0.28584326069826427,
+              1.158662378215188
+            ],
+            "finger_b": [
+              0.21134033117801337,
+              0.3097634342224201,
+              1.158662378215188
+            ],
+            "finger_midpoint": [
+              0.21650293222972522,
+              0.2978033474603422,
+              1.158662378215188
+            ],
+            "object_minus_finger_midpoint": [
+              0.005162601051711874,
+              0.011960086762077882,
+              0.0
+            ],
+            "finger_gap": 0.026053493046082527,
+            "fingertip_max_gap": 0.09070415292859871,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013026746523041245,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158662378215188,
+            "object_top_z": 1.2041216274626367,
+            "finger_top_clearance": 0.04545924924744882,
+            "fingertip_min_top_clearance": 0.013637774774234678,
+            "object_projection_between_fingers": 0.8429401400711197,
+            "object_to_finger_line_xy": 0.0094797509703986,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047852076464299356,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.602610377242901,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30501685938049483,
+              -0.3353636359343351,
+              0.8470197805596524
+            ],
+            "target_position": [
+              0.2983644128796759,
+              -0.3360346455048284,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006686202082643893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1882235526031246,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197805596524,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587360433297807,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504199475684025,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15551118642607048,
+            "release_required_pad_clearance": 0.05252099737842013,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11190496211325496,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007884740829467773,
+            "max_z_decrease": 0.007884740829467773,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03525198355102055,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007884740829467773,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021306265811111252,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007884740829467773,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007884762884879529,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15406434237957004,
+              -0.39229610562324524,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15406434237957004,
+              -0.39229610562324524,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15621435895520583,
+              -0.3941527698459517,
+              0.8079286353970717
+            ],
+            "closest_button": [
+              0.15405474603176117,
+              -0.3923044502735138,
+              0.7727914452552795
+            ],
+            "closest_ee_minus_button": [
+              0.0021596129234446593,
+              -0.0018483195724379176,
+              0.035137190141792174
+            ],
+            "button_min_z_position": [
+              0.15404582023620605,
+              -0.39229828119277954,
+              0.7689241170883179
+            ],
+            "min_active_finger_to_button": 0.14386221424851098,
+            "closest_active_finger": [
+              0.01523493230342865,
+              -0.3764351010322571,
+              0.8108527064323425
+            ],
+            "closest_active_finger_button": [
+              0.15406736731529236,
+              -0.39229798316955566,
+              0.7766436338424683
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1388324350118637,
+              0.015862882137298584,
+              0.03420907258987427
+            ],
+            "min_contact_pad_to_button": 0.021306265811111252,
+            "closest_contact_pad": [
+              0.15404582023620605,
+              -0.39546009288148287,
+              0.7899944732708533
+            ],
+            "closest_contact_pad_button": [
+              0.15404582023620605,
+              -0.39229828119277954,
+              0.7689241170883179
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003161811688703331,
+              0.021070356182535388
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bf10e9edffa9e0f7e5e35eec8bbad743eac5bcee2c4286d23dd45e2b2b931a43",
+    "visual_seed": 6037283061107594726,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56dd78a00964de5109a5573c6974b8268a43668d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_92_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2289360143644392,
+              0.308579387742105,
+              1.1573349382126088
+            ],
+            "current_z": 1.1573349382126088,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.3007483115947537,
+            "gripper_z": 1.1503154728902993,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22444034849661051,
+              0.30382995367571447,
+              1.1503154728902993
+            ],
+            "object_minus_gripper": [
+              0.00449566586782868,
+              0.0047494340663905565,
+              0.007019465322309459
+            ],
+            "object_to_gripper_xy": 0.006539735128134085,
+            "object_to_gripper_z": 0.007019465322309459,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2289360143644392,
+              0.28455849744838624,
+              1.1573349382126088
+            ],
+            "finger_b": [
+              0.21856060227224594,
+              0.308579387742105,
+              1.1573349382126088
+            ],
+            "finger_midpoint": [
+              0.22374830831834258,
+              0.29656894259524563,
+              1.1573349382126088
+            ],
+            "object_minus_finger_midpoint": [
+              0.005187706046096613,
+              0.012010445146859394,
+              0.0
+            ],
+            "finger_gap": 0.026165862236618605,
+            "fingertip_max_gap": 0.09063131421183396,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013082931118309297,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1573349382126088,
+            "object_top_z": 1.2026943218889807,
+            "finger_top_clearance": 0.045359383676371934,
+            "fingertip_min_top_clearance": 0.013607815102911579,
+            "object_projection_between_fingers": 0.8427681192949001,
+            "object_to_finger_line_xy": 0.009524877619737296,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781565710591698,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.609818515619158,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30549002773412226,
+              -0.33460228424758587,
+              0.8470193133981954
+            ],
+            "target_position": [
+              0.29736718727881034,
+              -0.33581367905114196,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008212674012313811,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18584678055415857,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193133981954,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548058558224244,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08639721697493451,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15418727156376333,
+            "release_required_pad_clearance": 0.053198608487467255,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4199347498801524,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007532656192779541,
+            "max_z_decrease": 0.007532656192779541,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035144529730807415,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007532656192779541,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021044260613110294,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007532656192779541,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007532682275750424,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15306711196899414,
+              -0.39207515120506287,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15306711196899414,
+              -0.39207515120506287,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15242592976583128,
+              -0.3917025259419777,
+              0.8082180386030968
+            ],
+            "closest_button": [
+              0.1530558466911316,
+              -0.3920801281929016,
+              0.7730811834335327
+            ],
+            "closest_ee_minus_button": [
+              -0.0006299169253003167,
+              0.0003776022509239252,
+              0.03513685516956411
+            ],
+            "button_min_z_position": [
+              0.15304729342460635,
+              -0.39207473397254944,
+              0.7692762017250061
+            ],
+            "min_active_finger_to_button": 0.146505005665979,
+            "closest_active_finger": [
+              0.025764882564544678,
+              -0.45606115460395813,
+              0.8104690313339233
+            ],
+            "closest_active_finger_button": [
+              0.15306676924228668,
+              -0.392076700925827,
+              0.7763525247573853
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.127301886677742,
+              -0.0639844536781311,
+              0.034116506576538086
+            ],
+            "min_contact_pad_to_button": 0.021044260613110294,
+            "closest_contact_pad": [
+              0.15304729342460635,
+              -0.392708243130971,
+              0.7903109247062745
+            ],
+            "closest_contact_pad_button": [
+              0.15304729342460635,
+              -0.39207473397254944,
+              0.7692762017250061
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006335091584215857,
+              0.021034722981268406
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "32c4bbe0fc1859da6041ba3a6bb9b7ad83554edfc9a7b769d7aa46cce1eb1d9c",
+    "visual_seed": 7093000534132514430,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b19bb361f2a2967fa98373622c32f8ee153e2f64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_93_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22690140387974175,
+              0.30389991372352726,
+              1.1555550972969622
+            ],
+            "current_z": 1.1555550972969622,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.2989684706791069,
+            "gripper_z": 1.1487081472806866,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22224854230567118,
+              0.29899169106553036,
+              1.1487081472806866
+            ],
+            "object_minus_gripper": [
+              0.004652861574070577,
+              0.004908222657996897,
+              0.006846950016275555
+            ],
+            "object_to_gripper_xy": 0.00676311839966865,
+            "object_to_gripper_z": 0.006846950016275555,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22690140387974175,
+              0.2800920644354354,
+              1.1555550972969622
+            ],
+            "finger_b": [
+              0.2158363491118642,
+              0.30389991372352726,
+              1.1555550972969622
+            ],
+            "finger_midpoint": [
+              0.22136887649580297,
+              0.2919959890794813,
+              1.1555550972969622
+            ],
+            "object_minus_finger_midpoint": [
+              0.005532527383938779,
+              0.011903924644045938,
+              0.0
+            ],
+            "finger_gap": 0.026253554516305535,
+            "fingertip_max_gap": 0.09033731797459338,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013126777258152767,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1555550972969622,
+            "object_top_z": 1.2009813011434198,
+            "finger_top_clearance": 0.04542620384645768,
+            "fingertip_min_top_clearance": 0.013627861153937304,
+            "object_projection_between_fingers": 0.8223640297516461,
+            "object_to_finger_line_xy": 0.010034266259622008,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04766865898729669,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.378549519669274,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31297375956532836,
+              -0.3284317751743516,
+              0.8470196188581296
+            ],
+            "target_position": [
+              0.30179114784014965,
+              -0.3311238005689246,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.01150207832181341,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19017635562244944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196188581296,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526116736565433,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09066165391744495,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1591550048776248,
+            "release_required_pad_clearance": 0.055330826958722476,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.77637746420649,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007592380046844482,
+            "max_z_decrease": 0.007592380046844482,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515239075896914,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007592380046844482,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021080538508935893,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007592380046844482,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007592401386669068,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.157491073012352,
+              -0.3873852491378784,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.157491073012352,
+              -0.3873852491378784,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1572661634723057,
+              -0.386270162145743,
+              0.8080786837302428
+            ],
+            "closest_button": [
+              0.15748271346092224,
+              -0.3873939216136932,
+              0.7729449272155762
+            ],
+            "closest_ee_minus_button": [
+              -0.0002165499886165323,
+              0.0011237594679501806,
+              0.03513375651466666
+            ],
+            "button_min_z_position": [
+              0.15747329592704773,
+              -0.38738808035850525,
+              0.7692164778709412
+            ],
+            "min_active_finger_to_button": 0.14585487493253785,
+            "closest_active_finger": [
+              0.029226981103420258,
+              -0.4478382468223572,
+              0.8109757304191589
+            ],
+            "closest_active_finger_button": [
+              0.15749153494834897,
+              -0.38738694787025446,
+              0.7768071889877319
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1282645538449287,
+              -0.06045129895210272,
+              0.034168541431427
+            ],
+            "min_contact_pad_to_button": 0.021080538508935893,
+            "closest_contact_pad": [
+              0.15747329592704773,
+              -0.3876059355831572,
+              0.79029589064568
+            ],
+            "closest_contact_pad_button": [
+              0.15747329592704773,
+              -0.38738808035850525,
+              0.7692164778709412
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00021785522465195273,
+              0.021079412774738793
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8f52c13367aa822e86cfb79a41072bd228e367708ede0a29c956e1acf43d1d7",
+    "visual_seed": 7048633137639260656,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3253adb64e7dd35d9884cc4b05ed59e488fefd81
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_94_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22626923011387898,
+              0.3010045072133925,
+              1.1583311413381463
+            ],
+            "current_z": 1.1583311413381463,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30174463392958073,
+            "gripper_z": 1.1512802079835591,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22176954211186725,
+              0.296269912312116,
+              1.1512802079835591
+            ],
+            "object_minus_gripper": [
+              0.004499688002011726,
+              0.004734594901276479,
+              0.007050933354587174
+            ],
+            "object_to_gripper_xy": 0.0065317364455894505,
+            "object_to_gripper_z": 0.007050933354587174,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22626923011387898,
+              0.2772524434235008,
+              1.1583311413381463
+            ],
+            "finger_b": [
+              0.21552969909012465,
+              0.3010045072133925,
+              1.1583311413381463
+            ],
+            "finger_midpoint": [
+              0.22089946460200183,
+              0.28912847531844665,
+              1.1583311413381463
+            ],
+            "object_minus_finger_midpoint": [
+              0.00536976551187715,
+              0.011876031894945849,
+              0.0
+            ],
+            "finger_gap": 0.026067183601019617,
+            "fingertip_max_gap": 0.09054012622593491,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013033591800509803,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583311413381463,
+            "object_top_z": 1.203677197584759,
+            "finger_top_clearance": 0.04534605624661281,
+            "fingertip_min_top_clearance": 0.013603816873983843,
+            "object_projection_between_fingers": 0.8302606979345338,
+            "object_to_finger_line_xy": 0.009785714861031462,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047770063112967456,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.23728909081171995,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30771649826095665,
+              -0.3313130788241545,
+              0.8470196290533551
+            ],
+            "target_position": [
+              0.29983975088367204,
+              -0.33264680256088136,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007988865266824107,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1883813052194036,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196290533551,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563227445659466,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850269720897137,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15625548091952082,
+            "release_required_pad_clearance": 0.05251348604485685,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09690910540985667,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00765681266784668,
+            "max_z_decrease": 0.00765681266784668,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515437100759698,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00765681266784668,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021096744600628728,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00765681266784668,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007656838743442387,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1555396765470505,
+              -0.3889082670211792,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1555396765470505,
+              -0.3889082670211792,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15642367947172223,
+              -0.38912908512376304,
+              0.8081044160697498
+            ],
+            "closest_button": [
+              0.1555285602807999,
+              -0.38891527056694025,
+              0.7729620933532715
+            ],
+            "closest_ee_minus_button": [
+              0.0008951191909223333,
+              -0.00021381455682278894,
+              0.035142322716478325
+            ],
+            "button_min_z_position": [
+              0.15551973879337314,
+              -0.3889096081256866,
+              0.769152045249939
+            ],
+            "min_active_finger_to_button": 0.14525865247517092,
+            "closest_active_finger": [
+              0.01519746333360672,
+              -0.373575896024704,
+              0.8110015392303467
+            ],
+            "closest_active_finger_button": [
+              0.15553919970989233,
+              -0.3889099657535553,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1403417363762856,
+              0.015334069728851318,
+              0.034192681312561035
+            ],
+            "min_contact_pad_to_button": 0.021096744600628728,
+            "closest_contact_pad": [
+              0.15551973879337314,
+              -0.3902148556274635,
+              0.7902083735553027
+            ],
+            "closest_contact_pad_button": [
+              0.15551973879337314,
+              -0.3889096081256866,
+              0.769152045249939
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013052475017769072,
+              0.021056328305363747
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05c8e578243115a1279483351b070b1d1d109fe5689a710c6db9937337405e5d",
+    "visual_seed": 8073253224925174666,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6326a8781d282c2e4a6ea5057cb96ba472ed75e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_95_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2273396854585462,
+              0.3016885794763873,
+              1.157933801356106
+            ],
+            "current_z": 1.157933801356106,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3013472343428957,
+            "gripper_z": 1.1508887275750153,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22281894288570836,
+              0.2969330722995534,
+              1.1508887275750153
+            ],
+            "object_minus_gripper": [
+              0.004520742572837827,
+              0.004755507176833873,
+              0.0070450737810907604
+            ],
+            "object_to_gripper_xy": 0.006561399387233401,
+            "object_to_gripper_z": 0.0070450737810907604,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2273396854585462,
+              0.27793296670184847,
+              1.157933801356106
+            ],
+            "finger_b": [
+              0.2165548467703853,
+              0.3016885794763873,
+              1.157933801356106
+            ],
+            "finger_midpoint": [
+              0.22194726611446575,
+              0.28981077308911785,
+              1.157933801356106
+            ],
+            "object_minus_finger_midpoint": [
+              0.00539241934408044,
+              0.01187780638726943,
+              0.0
+            ],
+            "finger_gap": 0.026089114278247984,
+            "fingertip_max_gap": 0.09054506345403404,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013044557139124018,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.157933801356106,
+            "object_top_z": 1.2032841674588386,
+            "finger_top_clearance": 0.045350366102732576,
+            "fingertip_min_top_clearance": 0.013605109830819773,
+            "object_projection_between_fingers": 0.8291131529016863,
+            "object_to_finger_line_xy": 0.009820205047184139,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777253172701702,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24489200613095213,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.303815597732787,
+              -0.33488580776509425,
+              0.8470196328218244
+            ],
+            "target_position": [
+              0.2964259989293955,
+              -0.3359038821923216,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007459399842779553,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18734279022296216,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196328218244,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586339090497209,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568101422774381,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15464276719352624,
+            "release_required_pad_clearance": 0.05284050711387191,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7241535979125311,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007527172565460205,
+            "max_z_decrease": 0.007527172565460205,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035182684527417005,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007527172565460205,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021202544303453686,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007527172565460205,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075271924811422895,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15212592482566833,
+              -0.392165333032608,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15212592482566833,
+              -0.392165333032608,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15151824285706803,
+              -0.39395280356653356,
+              0.8082121899723891
+            ],
+            "closest_button": [
+              0.15211506187915802,
+              -0.3921703994274139,
+              0.7730797529220581
+            ],
+            "closest_ee_minus_button": [
+              -0.0005968190220899949,
+              -0.0017824041391196754,
+              0.03513243705033098
+            ],
+            "button_min_z_position": [
+              0.15210860967636108,
+              -0.39216539263725275,
+              0.7692816853523254
+            ],
+            "min_active_finger_to_button": 0.14654017872803576,
+            "closest_active_finger": [
+              0.01028740406036377,
+              -0.37843072414398193,
+              0.8105223178863525
+            ],
+            "closest_active_finger_button": [
+              0.15212509036064148,
+              -0.39216706156730646,
+              0.776354968547821
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1418376863002777,
+              0.01373633742332453,
+              0.034167349338531494
+            ],
+            "min_contact_pad_to_button": 0.021202544303453686,
+            "closest_contact_pad": [
+              0.15210860967636108,
+              -0.39505555567803025,
+              0.7902863239480652
+            ],
+            "closest_contact_pad_button": [
+              0.15210860967636108,
+              -0.39216539263725275,
+              0.7692816853523254
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028901630407774936,
+              0.021004638595739755
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c82f1b11758a302e37bb57b5df9fddc9a64774718e083a12a185c98406dd4b3",
+    "visual_seed": 5143555155236735518,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd7fd7a323b3080ae42620d9938c9c713b006444
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_96_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21930963469274375,
+              0.30095310590101204,
+              1.1586584876850758
+            ],
+            "current_z": 1.1586584876850758,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.3020719206718654,
+            "gripper_z": 1.1517909120530756,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21488893654458635,
+              0.2962773000632752,
+              1.1517909120530756
+            ],
+            "object_minus_gripper": [
+              0.004420698148157404,
+              0.004675805837736857,
+              0.006867575632000245
+            ],
+            "object_to_gripper_xy": 0.0064347286150494626,
+            "object_to_gripper_z": 0.006867575632000245,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21930963469274375,
+              0.2768421424874101,
+              1.1586584876850758
+            ],
+            "finger_b": [
+              0.20921336243048058,
+              0.30095310590101204,
+              1.1586584876850758
+            ],
+            "finger_midpoint": [
+              0.21426149856161217,
+              0.28889762419421106,
+              1.1586584876850758
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050481361311315864,
+              0.012055481706800986,
+              0.0
+            ],
+            "finger_gap": 0.026139496367103075,
+            "fingertip_max_gap": 0.09055737884348009,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013069748183551564,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1586584876850758,
+            "object_top_z": 1.2041709242411458,
+            "finger_top_clearance": 0.04551243655606996,
+            "fingertip_min_top_clearance": 0.013653730966820987,
+            "object_projection_between_fingers": 0.8508141353968952,
+            "object_to_finger_line_xy": 0.009312759806480133,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047778689421740045,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7252588974037908,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30970150650408257,
+              -0.3343224196181282,
+              0.8470193460604502
+            ],
+            "target_position": [
+              0.3015048050062385,
+              -0.3359321235232965,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008353266553096058,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1872072815249312,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193460604502,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530801292921484,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852289068354014,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15593324073130835,
+            "release_required_pad_clearance": 0.0526144534177007,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.29073989451001886,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007947742938995361,
+            "max_z_decrease": 0.007947742938995361,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035162616412389935,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007947742938995361,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0211537034603673,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007947742938995361,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007947767969246306,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.157204732298851,
+              -0.3921935856342315,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.157204732298851,
+              -0.3921935856342315,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15860450553025032,
+              -0.39261484400663677,
+              0.8077931947559996
+            ],
+            "closest_button": [
+              0.15719780325889587,
+              -0.39220231771469105,
+              0.7726611495018005
+            ],
+            "closest_ee_minus_button": [
+              0.0014067022713544486,
+              -0.000412526291945714,
+              0.03513204525419911
+            ],
+            "button_min_z_position": [
+              0.1571849286556244,
+              -0.3921959698200225,
+              0.7688611149787903
+            ],
+            "min_active_finger_to_button": 0.14476576499299004,
+            "closest_active_finger": [
+              0.017615661025047302,
+              -0.37492722272872925,
+              0.8107429146766663
+            ],
+            "closest_active_finger_button": [
+              0.1572066992521286,
+              -0.392196774482727,
+              0.7764904499053955
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395910382270813,
+              0.017269551753997747,
+              0.03425246477127075
+            ],
+            "min_contact_pad_to_button": 0.0211537034603673,
+            "closest_contact_pad": [
+              0.1571849286556244,
+              -0.39394189525866363,
+              0.7899426451521876
+            ],
+            "closest_contact_pad_button": [
+              0.1571849286556244,
+              -0.3921959698200225,
+              0.7688611149787903
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001745925438641105,
+              0.02108153017339731
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ae65c8c8033b01d36cced04465207882c7637e22b8a7779885b5b8d7222cc3a",
+    "visual_seed": 1642195796979176650,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3484da7297a989ea1195911ee3d1e90c69d6f066
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_97_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2284206782474281,
+              0.30355513355890074,
+              1.157598176402064
+            ],
+            "current_z": 1.157598176402064,
+            "required_z": 0.8565866266178549,
+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.3010115497842091,
+            "gripper_z": 1.1506520928364066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22400706564183306,
+              0.2990096894768526,
+              1.1506520928364066
+            ],
+            "object_minus_gripper": [
+              0.00441361260559503,
+              0.004545444082048156,
+              0.006946083565657402
+            ],
+            "object_to_gripper_xy": 0.006335695552604619,
+            "object_to_gripper_z": 0.006946083565657402,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2284206782474281,
+              0.27990096409726184,
+              1.157598176402064
+            ],
+            "finger_b": [
+              0.21791170355606612,
+              0.30355513355890074,
+              1.157598176402064
+            ],
+            "finger_midpoint": [
+              0.2231661909017471,
+              0.2917280488280813,
+              1.157598176402064
+            ],
+            "object_minus_finger_midpoint": [
+              0.005254487345680986,
+              0.011827084730819448,
+              0.0
+            ],
+            "finger_gap": 0.025883552344753927,
+            "fingertip_max_gap": 0.09048901091923259,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012941776172376964,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.157598176402064,
+            "object_top_z": 1.2029754524026446,
+            "finger_top_clearance": 0.04537727600058061,
+            "fingertip_min_top_clearance": 0.01361318280017415,
+            "object_projection_between_fingers": 0.835156080559674,
+            "object_to_finger_line_xy": 0.009603823497895283,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047744505459616296,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5162440731381714,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3093642624993423,
+              -0.3325186908942191,
+              0.8470196165375665
+            ],
+            "target_position": [
+              0.3017702423226987,
+              -0.33365338833081387,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0076783253848664405,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18600484646295737,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196165375665,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558934022461526,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552375879333589,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540260230288268,
+            "release_required_pad_clearance": 0.052761879396667946,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5733472903424864,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007925331592559814,
+            "max_z_decrease": 0.007925331592559814,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520905402781507,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007925331592559814,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021213770457713547,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007925331592559814,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007925353533821093,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15747016668319697,
+              -0.3899148404598235,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15747016668319697,
+              -0.3899148404598235,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1593966888535238,
+              -0.391139091692703,
+              0.8078232411246961
+            ],
+            "closest_button": [
+              0.1574599295854568,
+              -0.38992378115653986,
+              0.7726885080337524
+            ],
+            "closest_ee_minus_button": [
+              0.0019367592680669954,
+              -0.0012153105361631389,
+              0.035134733090943615
+            ],
+            "button_min_z_position": [
+              0.15745165944099423,
+              -0.3899171352386474,
+              0.7688835263252258
+            ],
+            "min_active_finger_to_button": 0.1441558134198458,
+            "closest_active_finger": [
+              0.018282897770404816,
+              -0.3745359480381012,
+              0.8107332587242126
+            ],
+            "closest_active_finger_button": [
+              0.1574713587760925,
+              -0.38991796970367426,
+              0.7765153646469116
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13918846100568769,
+              0.015382021665573065,
+              0.034217894077301025
+            ],
+            "min_contact_pad_to_button": 0.021213770457713547,
+            "closest_contact_pad": [
+              0.15745165944099423,
+              -0.3923484670497003,
+              0.7899575075024292
+            ],
+            "closest_contact_pad_button": [
+              0.15745165944099423,
+              -0.3899171352386474,
+              0.7688835263252258
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024313318110528725,
+              0.021073981177203382
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d01b540dd332d366f67935647cd49d36bdf122a83e2c33525c9762866053fd7d",
+    "visual_seed": 880175719588863168,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce22643d72e1f367b55d22a22ded0bb58b7b61f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_98_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21975150707557953,
+              0.3062207674094673,
+              1.1582827111517087
+            ],
+            "current_z": 1.1582827111517087,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.3016960249292088,
+            "gripper_z": 1.1513958294875337,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21518660917685153,
+              0.3013551600936618,
+              1.1513958294875337
+            ],
+            "object_minus_gripper": [
+              0.004564897898727993,
+              0.004865607315805487,
+              0.006886881664174949
+            ],
+            "object_to_gripper_xy": 0.006671763438359541,
+            "object_to_gripper_z": 0.006886881664174949,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21975150707557953,
+              0.28236388604218204,
+              1.1582827111517087
+            ],
+            "finger_b": [
+              0.20892601811790443,
+              0.3062207674094673,
+              1.1582827111517087
+            ],
+            "finger_midpoint": [
+              0.21433876259674198,
+              0.29429232672582467,
+              1.1582827111517087
+            ],
+            "object_minus_finger_midpoint": [
+              0.00541274447883755,
+              0.011928440683642627,
+              0.0
+            ],
+            "finger_gap": 0.02619812969937869,
+            "fingertip_max_gap": 0.0902305578389632,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013099064849689345,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1582827111517087,
+            "object_top_z": 1.2036196468978209,
+            "finger_top_clearance": 0.045336935746112195,
+            "fingertip_min_top_clearance": 0.01360108072383369,
+            "object_projection_between_fingers": 0.8292524554577656,
+            "object_to_finger_line_xy": 0.009858047454900421,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0476152789194816,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.38561498733528055,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3084792636501257,
+              -0.3298728321816129,
+              0.8470193528906298
+            ],
+            "target_position": [
+              0.3007175709157646,
+              -0.33113566847725456,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007863754167840143,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18728590263968298,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193528906298,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540068289595753,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626001161814943,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15579944673327423,
+            "release_required_pad_clearance": 0.05313000580907472,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2850976470688171,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007620334625244141,
+            "max_z_decrease": 0.007620334625244141,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03524127545413875,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007620334625244141,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021103094128507638,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007620334625244141,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007620353760326652,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15641750395298004,
+              -0.387397140264511,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15641750395298004,
+              -0.387397140264511,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15815148393397316,
+              -0.3852721418783487,
+              0.8080356572809638
+            ],
+            "closest_button": [
+              0.15641133487224582,
+              -0.38740631937980646,
+              0.7729021310806274
+            ],
+            "closest_ee_minus_button": [
+              0.0017401490617273419,
+              0.002134177501457779,
+              0.035133526200336385
+            ],
+            "button_min_z_position": [
+              0.15640071034431458,
+              -0.3874002397060394,
+              0.7691885232925415
+            ],
+            "min_active_finger_to_button": 0.14374082042575276,
+            "closest_active_finger": [
+              0.029833249747753143,
+              -0.44628214836120605,
+              0.8109816908836365
+            ],
+            "closest_active_finger_button": [
+              0.15641939640045166,
+              -0.3873997330665588,
+              0.7767730355262756
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12658614665269852,
+              -0.05888241529464727,
+              0.03420865535736084
+            ],
+            "min_contact_pad_to_button": 0.021103094128507638,
+            "closest_contact_pad": [
+              0.15640071034431458,
+              -0.3874002397060394,
+              0.7902916174210491
+            ],
+            "closest_contact_pad_button": [
+              0.15640071034431458,
+              -0.3874002397060394,
+              0.7691885232925415
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021103094128507638
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "559f4a2dff62fa0b4d5bd16e68035cf0fed7450ae0396715804620962387eeb8",
+    "visual_seed": 3346887813109566738,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a06b072df899462451fc7aed5959391b5f892d37
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_99_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22547067016965272,
+              0.3033406310258718,
+              1.158129275099714
+            ],
+            "current_z": 1.158129275099714,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3015427676911485,
+            "gripper_z": 1.1511431885721002,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2210653280298281,
+              0.29866680348264496,
+              1.1511431885721002
+            ],
+            "object_minus_gripper": [
+              0.004405342139824631,
+              0.004673827543226816,
+              0.0069860865276138995
+            ],
+            "object_to_gripper_xy": 0.006422748887566777,
+            "object_to_gripper_z": 0.0069860865276138995,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22547067016965272,
+              0.27923938329606546,
+              1.158129275099714
+            ],
+            "finger_b": [
+              0.21538265629321054,
+              0.3033406310258718,
+              1.158129275099714
+            ],
+            "finger_midpoint": [
+              0.22042666323143162,
+              0.29129000716096864,
+              1.158129275099714
+            ],
+            "object_minus_finger_midpoint": [
+              0.005044006938221102,
+              0.012050623864903132,
+              0.0
+            ],
+            "finger_gap": 0.02612734517904152,
+            "fingertip_max_gap": 0.0906754630238914,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01306367258952074,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158129275099714,
+            "object_top_z": 1.2035943786057346,
+            "finger_top_clearance": 0.04546510350602051,
+            "fingertip_min_top_clearance": 0.01363953105180612,
+            "object_projection_between_fingers": 0.8509195221943265,
+            "object_to_finger_line_xy": 0.00930571858226492,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478377315119457,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6269953079751045,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.301125616499778,
+              -0.33024557621523404,
+              0.847019581770682
+            ],
+            "target_position": [
+              0.2939704287528467,
+              -0.3309501108959938,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00718979003937035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18411512449715445,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019581770682,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574168025051783,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08628627878352767,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15177194186934395,
+            "release_required_pad_clearance": 0.053143139391763836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.311622610457425,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007591903209686279,
+            "max_z_decrease": 0.007591903209686279,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517344556864259,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007591903209686279,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105635473922496,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007591903209686279,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075919227336470035,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14967034757137296,
+              -0.38721156120300293,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14967034757137296,
+              -0.38721156120300293,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14939319042189395,
+              -0.3857885980581761,
+              0.8080376432772443
+            ],
+            "closest_button": [
+              0.14965884387493134,
+              -0.3872166574001312,
+              0.7728942036628723
+            ],
+            "closest_ee_minus_button": [
+              -0.00026565345303738996,
+              0.0014280593419551124,
+              0.03514343961437194
+            ],
+            "button_min_z_position": [
+              0.14965322613716125,
+              -0.3872133791446685,
+              0.7692169547080994
+            ],
+            "min_active_finger_to_button": 0.14573588714590155,
+            "closest_active_finger": [
+              0.021710626780986786,
+              -0.44805994629859924,
+              0.810792863368988
+            ],
+            "closest_active_finger_button": [
+              0.14967265725135803,
+              -0.38721200823783875,
+              0.7767018675804138
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12796203047037125,
+              -0.0608479380607605,
+              0.03409099578857422
+            ],
+            "min_contact_pad_to_button": 0.02105635473922496,
+            "closest_contact_pad": [
+              0.14965322613716125,
+              -0.3872133791446685,
+              0.7902733094473243
+            ],
+            "closest_contact_pad_button": [
+              0.14965322613716125,
+              -0.3872133791446685,
+              0.7692169547080994
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105635473922496
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0608c53526e8ecfbb8084b50337ecbb70a9eb8673475cf82d9af24c6bc168fa8",
+    "visual_seed": 3772340226539518704,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f141602106cc35cd073c87936f17e2539a97dd9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/episode_9_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2246971259397354,
+              0.3039504758034217,
+              1.158053223032489
+            ],
+            "current_z": 1.158053223032489,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3014666560192786,
+            "gripper_z": 1.1510682478221286,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22024450280928431,
+              0.29925155149502763,
+              1.1510682478221286
+            ],
+            "object_minus_gripper": [
+              0.004452623130451083,
+              0.004698924308394081,
+              0.006984975210360345
+            ],
+            "object_to_gripper_xy": 0.006473464481855508,
+            "object_to_gripper_z": 0.006984975210360345,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2246971259397354,
+              0.27985887164122286,
+              1.158053223032489
+            ],
+            "finger_b": [
+              0.2145187654541895,
+              0.3039504758034217,
+              1.158053223032489
+            ],
+            "finger_midpoint": [
+              0.21960794569696246,
+              0.2919046737223223,
+              1.158053223032489
+            ],
+            "object_minus_finger_midpoint": [
+              0.005089180242772939,
+              0.0120458020810994,
+              0.0
+            ],
+            "finger_gap": 0.02615347803413151,
+            "fingertip_max_gap": 0.090456369651507,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013076739017065724,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158053223032489,
+            "object_top_z": 1.2035034439142671,
+            "finger_top_clearance": 0.04545022088177819,
+            "fingertip_min_top_clearance": 0.01363506626453349,
+            "object_projection_between_fingers": 0.8485404185089065,
+            "object_to_finger_line_xy": 0.009375924361491178,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477281848257535,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6581159051828178,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30402675772380994,
+              -0.33201445217351605,
+              0.8470196529024034
+            ],
+            "target_position": [
+              0.29622109643611233,
+              -0.3331829824757869,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007892642853036385,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18523238950404922,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196529024034,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753290585573832,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496548543492298,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15398451831652102,
+            "release_required_pad_clearance": 0.05248274271746149,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956454265540284,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007470309734344482,
+            "max_z_decrease": 0.007470309734344482,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517285372530451,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007470309734344482,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02119657874649639,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007470309734344482,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007470328377031529,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1519210189580917,
+              -0.3894444406032562,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1519210189580917,
+              -0.3894444406032562,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15114437361186228,
+              -0.3909781673990332,
+              0.8082050606765594
+            ],
+            "closest_button": [
+              0.15190988779067988,
+              -0.3894506096839905,
+              0.7730737328529358
+            ],
+            "closest_ee_minus_button": [
+              -0.0007655141788175945,
+              -0.0015275577150427044,
+              0.035131327823623604
+            ],
+            "button_min_z_position": [
+              0.15190432965755463,
+              -0.38944447040557856,
+              0.7693385481834412
+            ],
+            "min_active_finger_to_button": 0.1467159629281146,
+            "closest_active_finger": [
+              0.009998001158237457,
+              -0.374727338552475,
+              0.8104986548423767
+            ],
+            "closest_active_finger_button": [
+              0.15192033350467676,
+              -0.38944676518440247,
+              0.7763378024101257
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1419223323464393,
+              0.01471942663192749,
+              0.03416085243225098
+            ],
+            "min_contact_pad_to_button": 0.02119657874649639,
+            "closest_contact_pad": [
+              0.15190432965755463,
+              -0.39217492869037657,
+              0.7903585279196683
+            ],
+            "closest_contact_pad_button": [
+              0.15190432965755463,
+              -0.38944447040557856,
+              0.7693385481834412
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027304582847980097,
+              0.021019979736227157
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "workflow_spec_digest": "e56ccfb68cfb824ac7eb4ffc85450440a76f270f2b13ec491866fc87320c7b16",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "00fb8fc0acdc467c230a96013e468260cd2f2ec05e3dd1e4aead3b944e0e93c9",
+    "visual_seed": 5592633431445715189,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656
+    ],
+    "runtime_workflow_digest": "416b4e9eae36f2d3af9edeecd5f1149b04c9fce09b73f1544008b3fad1bb57b4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..f035a80a33271705b71b23a75183cf1cd3c6e034
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00007/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s03_plr_htd_00007",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eccd1d2bb3707b6ce2a0633bf042466f45771dcb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88b3c9079fa0d802260df441676a72b461c94697766eb50238f9ee7ee254099
+size 4371373
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fed174e9e7000dde83760bbd0354a18a4e80fb15
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a57bf1dad4b42d270682f6155457ede4ce95d510c7ec89a10969f55ea66f69
+size 5919409
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1f42908bf3141d51f9bdc30f9bb36b4e59089ab9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa295a7522a8ad3cb3365ed59fc53038d64db060f4a88462da66d71c3b736303
+size 5317928
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e0b700bbf8cb45941f18d8e7b2d7cd3725c4a8e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a845182425f253b08cbd8f49b28587d734513926ebbdbdaca489d8f8f61176d
+size 5540050
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b1d5d502ba2bbbc8c522675271c33b0be3691e82
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccefe9667e6bfd30a784e47aecc5901d8628c77c748040bdd7e96995f395b9c1
+size 5563428
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..afa54e644c985a09c5a5b3cdf2329cf8c1243870
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e80906f938a47a60a58021ee8b3b3e7a69c4584f8bb3a0ac508daacd1108280
+size 5879993
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f643eee51e816ce8efa683293fb258dfe355ebbb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e0e3bc347d3d8116eb14ca91a714c749647cf5dabfc16da3a4989e3ee061480
+size 4648624
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3756bca7eef6d716125e63df9b5beaccdb0713f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c430b89d9313c29ea0d520600994c3872c8fcaeb7683a93c26884be802bca75b
+size 3887427
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8ab06dfc1e9a8cf6019f560cc618779abfa9883e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd0351a9f97b2e515e197b5d1ce10d39a9884d9a07056ed2a4ce0bdc4fcf6cf1
+size 5822218
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5d079074ae9b22c491a5f4d2479f9064699d74df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e878db1902d698d4c7d763a969168ff1edea4838af0016ca4fea3eead17fee15
+size 4754106
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dcdbf604e49216a494be44f31f8c34940491c227
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d42ce2d4c5165576d5480f5587ed038862685f0dda4a865804fa9040255921b1
+size 4628979
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4de7f8992653e411f4da29d1245316c3efc850e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4c0a581cf00940626f34f20539206a136fd8d59645657b8293400239fd95149
+size 4239120
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5af47be0d8291b1bc129dd2197158fb907817f04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d5ca26328741819eaa1c28d916bd62a65d5b38de0cbbc153d58f16fe673a5af
+size 5175465
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b11c1643b9c2ed3337aea40bc57874a6f6cc8e54
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26da0cef821da8733db8bfb434b95065827fdd368456de94c37cb994bf297031
+size 3822439
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..214865dc9bb4bbb1675cb68563066cea3d0f2c87
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f8aecfa36a7a2b1068520b714ae48ef0e2296c8a6898a6dd43170c066782991
+size 5195344
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2b15769410743f8019a1324dd826063233efb497
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d420491c08682108d507e12d5b27d9a3f75edaac44ef365703a72223215d344
+size 4235199
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4d57789681d5618690f9560f8e3dae2cf944080e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03aad664029cb5773097283bd5cea388ac6312071041686186de0ddd11a1789d
+size 4813671
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e64c5e3248fcf7702ba46732f39b5d26f2b8c866
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:637b826bd2c24f29585ad4ee1ec730a55561ef3acd0ab3a25a2a4695ee16f347
+size 5148237
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d2b02bc23dfa8554eeb1b261cd87a94c5686a46f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d7a2cc1d21a4f94f9ac95df63c23a76abda0a4c7f590ab77a3cfcc47d97f3e9
+size 4949993
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a7b711fde44fa71821197ff0233a78111ff75b6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f26530ca098cab598bc2b9698c93f58c48b06203ab089dfc5893369d6674277e
+size 4091098
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..011dc45be2bcec2fd600df45fa12682d89fcd321
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b866328b7b6cf41726681a22b3241fbf2d7204ea86b821f1571d52dad3e2e9
+size 4227266
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aeedac8b2e82d0fe807a09064598fddbb61b9916
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18d81623f78f0aa5e3d4b3c9ff156ffa82856b94de8d47a477a9ad2d568eaef
+size 4994553
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..79562b5f6b3c48512baf2ec5e022591dfffd5475
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7344ed700a8ef1e2c7a02bd5b728ce1368eddd9ebcbcb1d4fd178e928e2e6ff
+size 4598080
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29ba97a25ca5c84ee6ac763673bed4c0f8343173
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e480c47cdf2f736946a82e53b9e5fabaa3767d50eafa3e1b09029e2923e4cbe
+size 4479650
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c290922c90b331fa7464c9c9d2bb4f87c87550cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:057b78f9344e2ad5ee5b7880398b5e31b4ee224777dbd6f5c075223cdb570045
+size 5701617
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c7fc3030133b466487644b5671167a59d12b2728
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7671c2779d22c1bc823a0423be4ec7dce5091c3f9e592adbe6e4c3cd07956cb7
+size 4847064
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c255ab7be2186f2de292c3ce98e847489e70ab41
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fdec896e289134ed2f6cc02cd07681b9062fc040e353a8f424310a23ea1c848
+size 5528178
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4bc6eba28c81c4a4b3bbd0f1bf66c6c111b15146
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f5afb1cbd1d0846d93992f25da4e386ea88bc4e298f19be74a16a89a81bc6df
+size 4217294
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6a1edfe637078e382a4fcc5e1b2bbb00777c9b6b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87d0ba06a942c3270334ddfc16f5a327730b54db003e03f4b2b30f5506648b16
+size 3633943
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d053331353a077954835e8f918e8eb57143e37d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2bc15e33878f48e153e7eb8405e32ee97957e042cab0492a21bc3d54664a145
+size 5041106
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b0f864fe475f85f006c91e7b22296b84de9f42e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff18364cb7a42572bf32f9972fd4dff71a3d4a9b80fd970e273c3e7cb152d6d0
+size 4483452
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..51de70dc6a85b3c1b9e0e303a26841d16282ba63
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:418611befac987f38d6aa4d9b33c1cfa90674ea1460ce0392ab959be6283a788
+size 6684489
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0bcead83ca38afb81fe40e438a6605ad655581ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e2634327df210989707125661f186abd8f7bfbcec38754f7a412b203bb48e6
+size 5651966
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b62fbfa233a97eeaa3b13b841236b3ed23ad0de3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68cf5f10dd2fc75d678e3aabcca5c57ceaed812d5a5c6fff5dee9f3a87a84c64
+size 4547127
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29ec8dc2213a22507a23f18224b62b078bd89de9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba7714383610881785973fc5c49979eaca0bc6a3035ffe108aa9d03bef673789
+size 4160976
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d4b9640a2d8976cccd58d6ef52e6db9b3bca1022
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9679d53ac77303e1bcbcfbc241f0d8df7fcbcc68843e99f8aae714799bfb1da0
+size 4139002
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..24a94aa1d70aad3456edf3847f5cead4c9cc1296
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a1b9c09443143dd47a61c8b6b95411860c523b758dd6ec48ffde15726e58fa
+size 4583593
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6491ef32c2e4eafc95ba7925a1106937f95869c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e891e19e571a39b677bed53f4f684087b244621420d2c8f216c2048c555e27
+size 4812227
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e700d259659ed65d4b538c15e64a3d95465809e8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbbf15f2e11cd1d5129a3c1f294fe4a85761d9da777c302122a33e7242c7c12f
+size 5391747
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8aaa393542540f0c42c37117171f7a9fd90542ad
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:184d033f79a2b4294439f1326e607b6434931512664c630dd67f8cd18042bbf7
+size 4424075
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..66608172a8bd34186e17032c0cfb3f7552992c16
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:034db9bb09b711ac05ee7aac3fbb8f2e19f6c7fc132b3dab7f5983b6d620503c
+size 4715234
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0190c09b961a935b7b3c951dc4bcbb887fa3ecae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee3eb347c106c55ef5d5d68d53cf24a5eff07a5e3af6d499c40e0b0ccdac5e86
+size 4492377
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..53697c1811f165dd3866724cbd9580a896dd81d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5309c24f150a49b36192138b39f2ed79671ae6c5ab6e41cb42959b8a21cb99a2
+size 5318125
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a8645552311136040d0d48d6494d2dfe4775d7a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4a81b2b7454dd34680dd1425284a9e29aec9b8f566671ef731a0398cc012bab
+size 4542914
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..05d1368beadcb48ee4ec7c122f583753bc4258fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a2abec4bdaa233157393e38f151604d8e1587cf6d201dbb299250104eb52722
+size 4673346
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..22045d08e6943450e33cffc6109f152e9e9871ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59d09b026484758ab8e9a50849e08d9e737386a944ac1e8a342b58539f6de455
+size 5825646
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d4b74c3396ffc56250111375f3e5c81ceaf57bf6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caac75a9061d30b368d8260f3e64ffe9d348aacb0ac407bc32747a4a18dbd471
+size 6185630
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11cab5b23e1c4fb0192975b963b331c687e8c2ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1c6cb06154750cc236fe5011f445c2b40e8e317cb01172e8e5c1f4f5614140
+size 4629645
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6664c2aae93e252eca0201c9d63bd1960a6f6e09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:910d7236361efce400307b9d670bb83e8db3fb6989536dc4bc4e2ce722ad997a
+size 3886222
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..917446ec31a5d4c2a927fe2da1ae19c6606dbfd6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6e3ec9b341856507a31c61f1cc2426ac717138b56fdcf242d5dcf56563a658
+size 4100512
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ea54850712cf01595b11b181070b116f69c79182
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ddb2aed6dadef3253221a8a028e1a3740ab126fc528a17780656e14c1e393f4
+size 5773133
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b5d76126236c9b1f70c1ac61ab3f8203488a1a32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700e50cc3f063e830ca764afee61f051d4e72d7d7eaf66e4246da053d80d5ad7
+size 6463008
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cebe2f4f0651c0ac26af24930c5488f0377985b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:553c60c49a231853d01073eb245111f384db37cced147253b6872f8e72d05979
+size 5694732
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..656ba317c0383b207f8a1cc8e0b6abbf11ebcb69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc71af51e2e358d22b497ac05b63d7e3adc4dbf65cf85b1ee3bfce1c11688508
+size 5260350
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..97a188cf662b2b619641f06321c55a8a7d81eac2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6ddf430ef0576b0029c4446a7ccef47814f978f1c02fbb221c2f6843696b87
+size 5968312
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4b41d9c0d9acab1cf05c7b2e0fdaa7f32700f2ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db6fe29a77165008c1d0929c126509d53fb494bcf43f6ef72d56c299edef56b9
+size 4845496
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..09aac9ccbfcc3875c8bf8ae3bcdcfdbf7b894d25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da4efed1f93b1b163b2ab465d78f5edef2e40a684d6462531d295232ecae20e7
+size 4179853
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..83edbe4864d9b75033df6fafdfb9d4bf8d2cd9eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffb6a3d6d52c39f7fd620971bca9c4a70326ea186f1b4cd3c09619d3bb28f3fe
+size 4929308
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f9f6ef916e0c93ded30a74421141a5e625cf3e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73f7cd468deea75f8673a91338d78e7445db5f3d0942aa59bd124a296bd15682
+size 5365296
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..142cd2ff049889c2c7159e73782c989e7f7d6cd4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb7402b61de5c1604c600365381e1a23c32fb6df7b1b6c050adf4fe1f3300bf
+size 5693411
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60ce195a2b98268a5c3d86dcb1f189bcf8f85d56
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81ac6bb52b6960787108d85c387ee7f29e9d4d67c99b7625bfb75f9bc63815b4
+size 6023374
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2a9564ff7915de40e9a46c07fd48e1142c04788c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a880c2b89937d3d1688e225201131131d65bf9f725ed37d37b7a0fba8faf2b84
+size 3932824
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..85e7c45edd66c16310e9b5249f163b67accd55a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc88a3ae2d5b23f55adb60480cd79c6b6c1761bf700e317b20eda665c9e7cf5
+size 5359264
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6e87fe9ec6c47086830208105fabde1cc5dae56c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5987dcdab0813daf20e83537d8c65677baf76b6f5726f139c668364f689d0190
+size 3766578
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b67ca848173be1856caa4529d1be30c0777cb700
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:364a26183389d3ac3fbce8ee45487c9f92b6135f61a63fe736883dc78086e047
+size 4815914
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f9c9b1b97fce8274487986d9c75ddf812f6af7d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42a357253cb62aa255d567b680397edfe59ab8000038167c0c3c441a43470361
+size 4739788
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..38bc6d7540f7556bbc85aa0675019ea3107ef40e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8406a1c4b4b2039b34e69c2f5feb60ec055ebc361b78db3f55d9e63f94fabea3
+size 4195884
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8dcc0232e070daf810d455789e48f5a8851fafb8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df38f5d52722727f7a9a17af0d5704f8becb6c976916447736f4d59ecea6c9d1
+size 3885641
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3deac837294719c866b3eb56c7213816f3f24ffd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d924f56d708f9f0f18a4be2cabce936f395ccfb93e29f7fce630e810c6c4a0d
+size 4501527
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d738c69d0bf7533de946e67c0a614e86cbd8ca4f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc4c23d28e8bb6653d9b571c5002531b77cefb5fd97d10da5ebe6d9b4748954
+size 4358980
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..295d670b753a76c9de21e8462705eed353f65fe9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0145277705d3b5ec8ba4fc8aac21d20013676afab655aee2b233eba8005e1ce
+size 5009128
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..059a3b4bbdf8acba0fee8167f6ddfd9aec487ce3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6df6c60558a8a62063107d335171509d09b33c70096ece7782594fea5cbd0999
+size 4654776
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..df1d4ae2c6143b2fa328d12e67edd3de2b85eacf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb9084011c03b2a341a5a5dc1ada8a34047131723c310a34800335741e808f6
+size 4463778
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..734b75cdb6840fdc6a67f76f72bf4843c106809d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71bd36a30ddb6f57a4336c3907cf76a4ea528f535f0e3f2321e3833be3b25594
+size 4951305
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..741c7a993e14685a97b823c34bbff850f1f6c4e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0a4eab212d8110abbd80b019d0b113b49ad01ee73ece65ccc52ed9e9554610c
+size 4920537
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1a9866427a30297df649fd4c30feb8580e36270d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b07c32d4dba0509facd4014d6b53ec3889d7d96286a587c3ab3dbbb91d3ea6f
+size 5076740
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ceb7aa63b06947afd1961880d6031d284eb372f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d2a13ae452163fc9c490f9c9642861ec51f2e1cea0333703062f6849df3b3a4
+size 5257217
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..16d615387065bbf9546d35cea7a419ea1bdd52af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:446d69c9fcd023238a571c5f55fb7d92f52a7e7752ddbdf2951c3b9b8e8ff8fe
+size 4954281
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..afdebfbd167bade15a957cec11235515e30686bd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82cc3add69516565fa295d4069fa186941b669072e33e7eb247a797d8504e9c3
+size 5259955
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d2e1e9814437e86f987106d25482c5cbb7b7334a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dc5c46355a1ea72f9d13748716ad27cc850237120a8c3908b8c9c04a087096f
+size 3878615
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0039a0e29f1cf2e60580780d5732c6dcd25708e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bb02a22f07c7fb064f45ccf6d9bd41bb4c73805ce3d1e9176c9f360f799f34f
+size 5148762
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..639f2b3b8361235fdafdccdf770932450d8047ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e357188666dd4a153505f39fb3a5d61b6d5c46755d834f3e8234615a5756a565
+size 5321275
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..83cbf323959e12e63187aa70e8412a74b1d7dff2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd655994af8633dd35e70d32525a8636ba475b5f99b18054c0ddb8ac9cf6acb3
+size 5034494
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..046a3323a1185aeff92897ab42229f9291bb7c61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c59ec3c5d6fba16ec852b3e868590248ce6a0a1d86fcb39306ed33352e37d4ba
+size 5053223
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..88c84af36bc66f0262f28fe1b91c350f97a5553f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b37f697c8270a28347482d95fb9df20bc0fecb4d1203d5997733f7739c5dba63
+size 3775073
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ebfb0f03e1739e43fff782747de3df75678acdc1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23c1ee9ef141a9c58b83b476e6dac43f44d03f8c43efb61e4cc7833c065b6172
+size 4901230
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9a7ba242a2a73c2b02fc17baa22caa7c69d626a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c253cac380b27b3286521c23aeac3f2c19f2214bf6e00783b5728677c5d0bda8
+size 5833791
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..00852443aa0798a5378e2eb4516f8b3443b03dd8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e579f737ad59697f2049d09bba329452c6ab5e0b2301e675e06271f389efda92
+size 4081938
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a579fc05152947935944f666178c29a5146d3764
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab9bf150ca1f1f847ab0557a385ecdf9356c47cd34e3a437443d5632e8201c49
+size 4526684
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8168d391d640355c363d2bdf2ad9897801c2ec79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab23e7150e59028418ce347c893dcbc3ed2b711d9063a1f63249130a5a792177
+size 4469683
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5f2e79f3725af41beeba7f365786f8608e385a85
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aed61c5861de63467d38df65e1c388b68944258f25ccf53c50b3e46263b60ec0
+size 4396350
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..284a8eeffdc5910c59a71133520ba70f034d4555
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f261c148bc6e0f690c9262d20660384a8bf3a6b0e30b8f7c10b759e2fd004d
+size 4740316
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b6affe986ac7b7d43d28b9b07697bdf90a48c37c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e29e36d94a7e6fb7850109cf800e98d508669d5cb5b2513a6e7e36657cbe31e
+size 5029390
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dc054926e2c66a4732fc22ab9073f5f4908ab257
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:913787a736391e9a8d58d6eccd16215b06bc1ce76976ace0f0d3a9352a5922f9
+size 4445641
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e5751bdd5a3380834a43ac4c48dabc67534d69b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aac02ac466d2b79bf81853504a92432b0aacff529b6168def6f69e8b3ddf7c4
+size 4243086
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f32bebb03fe375908bf8931cf8a071542f173e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65fac72cedeedfcfd86ddcdfc5fd85e6207416904536bfa6fea781f2e1d9ee29
+size 4814403
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..925d54694bce95e3615f428aec56b5f9fbd61fb6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e4741646b63546cf2e084133ebba7db13c00cfa2e45e483457d59af301b4412
+size 5218422
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0a3c822de49d94e2c4e1c96075d2bd473a8a2b05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc799aff5674b49b312dd722cdd589865016dadaec66bff1f0a0cc32efe1341
+size 4806045
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..99698808cd1aff8c1924b8931c9dbb370b024f0b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebeda4017b17a95cc15d1906e5091637e48bd707ceb41002b4202849d9d0cea6
+size 5000137
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3256b23f263e410ec3d567222f2b107983dbc577
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d069e50907176afe771150015798e8fcf2ed447e10cf77a8d3d1eab1d76fbdc3
+size 4981258
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0508fbf60838b0fb92c8c7e6bba94fd4d29f8180
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bad832dd0c19a2cfd9ffd248b4a08498984ad7c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-04T07:20:21","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.5597358738168501,-1.2441981014366332,0.71338606911949],"aabb_xy":[[-0.6237315712119467,-1.3081980997373417],[-0.4957401764217535,-1.1801981031359243]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[0.037443384887045905,-1.7358768592711677,0.71338606911949],"aabb_xy":[[0.020433287596995246,-1.7520113477694417],[0.05445348217709655,-1.7197423707728938]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.14433912213721856,1.1612979350707304,0.71338606911949],"aabb_xy":[[-0.18025262656220822,1.1253844268539757],[-0.10842561771222885,1.1972114432874847]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[-0.2530907252183573,-0.4155502605778789,0.71338606911949],"aabb_xy":[[-0.26502345958018536,-0.4279324133857383],[-0.24115799085652923,-0.40316810777001955]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.36226039140595523,-0.21793295372854038,0.71338606911949],"aabb_xy":[[-0.3693007013394922,-0.29793295312821183],[-0.35522008147241824,-0.137932954328869]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.014764572475934656,-0.9247613968472757,0.71338606911949],"aabb_xy":[[-0.03804641467406599,-1.0097613981445037],[0.008517269722196682,-0.8397613955500476]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.5693213741955079,1.1360397546640209,0.71338606911949],"aabb_xy":[[-0.5766036905721714,1.0460397510545114],[-0.5620390578188441,1.2260397582735294]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[-0.21732314337201442,-0.12224964995936771,0.71338606911949],"aabb_xy":[[-0.27232314299376026,-0.17723334274684044],[-0.1623231437502686,-0.06726595717189499]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.14856733493873842,-1.4713041776332716,0.71338606911949],"aabb_xy":[[-0.18356733491523425,-1.4807687936808884],[-0.11356733496224258,-1.4618395615856552]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[-0.5870250009858856,0.05185111217436278,0.71338606911949],"aabb_xy":[[-0.5946492690760639,0.044217888637819065],[-0.5794007328957074,0.059484335710906514]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[0.46195252784169716,-0.4028253788338878,0.71338606911949],"aabb_xy":[[0.44004384570234606,-0.42472604565397853],[0.48386120998104815,-0.3809247120137971]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[0.209497041897171,-2.208718687376688,0.71338606911949],"aabb_xy":[[0.17246293246911126,-2.243095894710397],[0.24653115132523068,-2.1743414800429783]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[-0.5350158403161903,-1.835624448484706,0.71338606911949],"aabb_xy":[[-0.5437970674634266,-1.8444041957732369],[-0.5262346131689543,-1.8268447011961764]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[-0.5549284706625727,-2.0612382653673818,0.71338606911949],"aabb_xy":[[-0.5893908180607144,-2.0957321477652036],[-0.5204661232644308,-2.026744382969558]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.6161294378183788,1.350051806256777,0.71338606911949],"aabb_xy":[[0.6080017496250655,1.3411381978460692],[0.6242571260116919,1.3589654146674848]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[-0.32623108651095906,1.0459969458694216,0.71338606911949],"aabb_xy":[[-0.3301449597063816,1.0372479304628648],[-0.32231721331553653,1.0547459612759784]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.1927782147046827,-2.102153241498872,0.71338606911949],"aabb_xy":[[-0.21636333816857756,-2.167153243744304],[-0.16919309124078785,-2.0371532392534406]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.2356503820269349,-1.9376369439430714,0.71338606911949],"aabb_xy":[[0.22623290745707214,-1.9470531210807904],[0.24506785659679764,-1.9282207668053524]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[0.6100257227450732,0.8624018158494398,0.71338606911949],"aabb_xy":[[0.587529301311209,0.8399018160426923],[0.6325221441789372,0.8849018156561872]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[-0.4559987412058907,1.3076759466759298,0.71338606911949],"aabb_xy":[[-0.5199987384915393,1.2661692277230858],[-0.39199874392024203,1.3491826656287738]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[-0.05436162907498909,-1.7632582041030664,0.71338606911949],"aabb_xy":[[-0.07686162931850449,-1.7754628387628386],[-0.0318616288314737,-1.7510535694432947]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.325757180381495,0.9224311534994083,0.71338606911949],"aabb_xy":[[-0.3833876492687657,0.8624311545726976],[-0.268126711494224,0.9824311524261188]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.044372308220348655,-1.2488171386508136,0.71338606911949],"aabb_xy":[[-0.08954362606851762,-1.312817135795352],[0.000799009627820327,-1.1848171415062752]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.11967612458271149,0.4599155231729628,0.71338606911949],"aabb_xy":[[-0.15311629977873104,0.42647189734203267],[-0.08623594938669185,0.4933591490038928]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6538932204160964,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3540.png","name":"3540"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3540.png","name":"3540"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3700.png","name":"3700"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8439.png","name":"8439"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5550.png","name":"5550"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":677.0418161906199,"rotation_z_degrees":67.9268275953556,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014460371239545963,-0.003358787345018953,-0.008600534531218331]},{"name":"camera_2","offset_m":[-0.014869647338254476,-0.012843580282445938,0.005007798340043942]},{"name":"camera_3","offset_m":[-0.008462066180865794,-0.013427554639382167,-0.008271053617769097]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017240365201404706,0.0009259607941727943,-0.0012531240162117455],"end_effector_yaw_offset_degrees":-0.5939869891540202},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009766794113339424,0.00040382002682090405,-0.001435379158431223],"end_effector_yaw_offset_degrees":0.7525115917002387},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018320690586027559,0.00028844572568912296,-1.107837603233795e-05],"end_effector_yaw_offset_degrees":-0.4458661756178126}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00010848492805301622,0.004665353736762279],"position_m":[0.21719151507194698,-0.01563464626323772,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004023561568546734,0.0005497798707682997],"position_m":[0.21017643843145326,-0.3784502201292317,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008543029750399823,-0.0024293217916983557],"position_m":[0.21105430297504,0.2931706782083016,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033614932373334915,-0.004357954358455809],"position_m":[0.3484385067626665,0.12754204564154417,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aebd08565fb85bbe605d07460d82876a0450d967ae07f39c7aa4988a953e1320","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3540/tex_ceiling_textures_5550/tex_floor_textures_8439/tex_table_textures_9650/tex_wall_textures_3700","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5353131862237625627,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5353131862237625627,"visual_seed":5353131862237625627,"scene_id":"lab_003","finished_at":"2026-09-04T07:23:06"}
+{"episode_id":"ep_000001","started_at":"2026-09-04T07:23:15","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.5327911576868789,-0.49090919459362636,0.71338606911949],"aabb_xy":[[-0.5627587145967046,-0.5209091948915121],[-0.5028236007770532,-0.4609091942957407]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.5906217738998072,0.8978157369269857,0.71338606911949],"aabb_xy":[[-0.6052651794538402,0.8831570172702013],[-0.5759783683457742,0.9124744565837698]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.1350115148739386,1.496503884962943,0.71338606911949],"aabb_xy":[[-0.1516886508670341,1.479803960989013],[-0.11833437888084308,1.5132038089368736]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.352976816298109,-1.6983407064428107,0.71338606911949],"aabb_xy":[[-0.40797681591985485,-1.7533243992302836],[-0.29797681667636317,-1.6433570136553382]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[-0.4544509035250531,-1.1661761951152538,0.71338606911949],"aabb_xy":[[-0.5244508999350146,-1.186614130766935],[-0.38445090711509117,-1.1457382594635714]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.611578465465784,-2.3735417671413415,0.71338606911949],"aabb_xy":[[-0.6755784627514325,-2.4150484860941854],[-0.5475784681801352,-2.3320350481884975]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.022534747216924056,0.9983971623394741,0.71338606911949],"aabb_xy":[[-0.03246525098482077,0.9578751957130365],[0.07753474541866888,1.0389191289659117]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.5821681972406857,-0.8060894372699221,0.71338606911949],"aabb_xy":[[-0.6471681951223335,-0.8572131009764631],[-0.5171681993590379,-0.7549657735633813]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[0.5452378013588797,-2.236374091954593,0.71338606911949],"aabb_xy":[[0.4952378003397445,-2.272840307692421],[0.595237802378015,-2.199907876216765]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.5491808569094117,0.5977942454020608,0.71338606911949],"aabb_xy":[[0.49918085524791683,0.547795803146358],[0.5991808585709063,0.6477926876577634]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[0.5008706841807433,0.47256726149277295,0.71338606911949],"aabb_xy":[[0.48569851489911,0.4573984045645697],[0.5160428534623767,0.4877361184209764]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[0.34196225420623483,-0.48939699063164,0.71338606911949],"aabb_xy":[[0.3366246785402303,-0.5143969915607798],[0.34729982987223945,-0.46439698970250026]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.06773121736108267,-2.310709793917357,0.71338606911949],"aabb_xy":[[0.002731216360582142,-2.3614961590720314],[0.1327312183615832,-2.2599234287626815]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[0.26336922491729486,0.5512099810287538,0.71338606911949],"aabb_xy":[[0.25328751783872133,0.4712099831366392],[0.2734509319958683,0.6312099789208685]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.17128931581750195,0.0831485570515258,0.71338606911949],"aabb_xy":[[-0.20575179383058972,0.07648487986860297],[-0.13682683780441418,0.08981223423444862]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[-0.14501002349114034,-2.161170618724957,0.71338606911949],"aabb_xy":[[-0.1503425381457533,-2.166494946970193],[-0.13967750883652733,-2.1558462904797215]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[-0.41706728224572975,-0.8384002835887305,0.71338606911949],"aabb_xy":[[-0.42120313857843006,-0.8759002830330878],[-0.41293142591302967,-0.8009002841443738]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[0.5699892487317255,-0.966445302967573,0.71338606911949],"aabb_xy":[[0.5340757443067359,-1.0023588111843276],[0.6059027531567152,-0.9305317947508184]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.11090881449631074,1.1369741625231975,0.71338606911949],"aabb_xy":[[-0.17490881519978008,1.0909557800502767],[-0.04690881379284138,1.1829925449961187]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[0.6014514901715313,1.4871212538073784,0.71338606911949],"aabb_xy":[[0.5639514915959104,1.4743849581438202],[0.638951488747152,1.499857549470936]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[0.6535942061159801,0.7868133808933173,0.71338606911949],"aabb_xy":[[0.62526449616744,0.7823526386996003],[0.6819239160645204,0.7912741230870344]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[0.40511543644683146,-2.3631660264209478,0.71338606911949],"aabb_xy":[[0.36761543526203866,-2.367584249117008],[0.44261543763162425,-2.358747803724887]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[0.38452559885496984,-0.6637455182478114,0.71338606911949],"aabb_xy":[[0.34702559874937683,-0.6705676801007924],[0.42202559896056274,-0.6569233563948301]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[0.4754486726313245,-0.17825060097325052,0.71338606911949],"aabb_xy":[[0.4648811929732255,-0.18879563108625907],[0.4860161522894235,-0.16770557086024196]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_24","position":[-0.6193873497416784,0.7388397845850441,0.71338606911949],"aabb_xy":[[-0.6518490506236058,0.7087069524701414],[-0.5869256488597508,0.7689726166999465]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[0.4025177250199987,-0.8876779815943441,0.71338606911949],"aabb_xy":[[0.3597510181405785,-0.9516779850161465],[0.4452844318994189,-0.8236779781725416]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[0.5157022061249656,1.6650449859377763,0.71338606911949],"aabb_xy":[[0.5069209789777294,1.6562652386492465],[0.5244834332722019,1.673824733226307]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627815253400963,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9609.png","name":"9609"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9609.png","name":"9609"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6999.png","name":"6999"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8750.png","name":"8750"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1327.png","name":"1327"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/561.png","name":"561"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":722.2481343365575,"rotation_z_degrees":235.02211490179636,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0040689704597591456,-0.016580834855216935,0.01528255573944214]},{"name":"camera_2","offset_m":[0.007286392951124668,-0.008672688280270232,0.019777657151451907]},{"name":"camera_3","offset_m":[-0.0162099206989192,0.0004605508342859464,-0.008802309499847576]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001425307023633351,-0.0009884751601274351,-0.0011405057694514019],"end_effector_yaw_offset_degrees":0.7205340072847954},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019234335948118938,-0.0017767384295596794,0.0013089013471510934],"end_effector_yaw_offset_degrees":-0.735887444225618},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00015442747372661474,-0.0007945833491741947,-0.0014285885257235926],"end_effector_yaw_offset_degrees":0.47469096664482424}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004332249235265964,0.0026278889612563376],"position_m":[0.21296775076473404,-0.017672111038743662,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030690429563417507,-0.004813826228673347],"position_m":[0.21726904295634175,-0.3838138262286733,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003220892901541232,0.003578836557159528],"position_m":[0.21052208929015412,0.2991788365571595,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00290858733998895,0.0009521562213279247],"position_m":[0.35470858733998895,0.13285215622132793,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"103920428453668ddd88f632f05ab438951fdf4d4a5593d0f2306755552eafa3","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9609/tex_ceiling_textures_561/tex_floor_textures_1327/tex_table_textures_6999/tex_wall_textures_8750","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8961135918635023862,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8961135918635023862,"visual_seed":8961135918635023862,"scene_id":"lab_003","finished_at":"2026-09-04T07:26:29"}
+{"episode_id":"ep_000002","started_at":"2026-09-04T07:26:32","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[0.04607671207451991,1.0812833544946785,0.71338606911949],"aabb_xy":[[0.004827901044605175,1.0262833549824608],[0.08732552310443463,1.1362833540068957]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.2359532390158653,0.44646494623992394,0.71338606911949],"aabb_xy":[[-0.26046686311287115,0.42220035293788744],[-0.21143961491885946,0.47072953954196034]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.4034578064329042,-1.2509498953836988,0.71338606911949],"aabb_xy":[[0.35345780507201696,-1.3009277999591142],[0.4534578077937914,-1.200971990808283]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[-0.18299630054686133,-2.268752254272724,0.71338606911949],"aabb_xy":[[-0.19024006659310666,-2.3487522524763262],[-0.175752534500616,-2.1887522560691215]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.2487123024090298,-0.7027183049426267,0.71338606911949],"aabb_xy":[[-0.2663879329976281,-0.7203985212220293],[-0.23103667182043147,-0.6850380886632238]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[-0.6349832815429584,-0.4477090228237426,0.71338606911949],"aabb_xy":[[-0.672314558068201,-0.4823620776185949],[-0.5976520050177158,-0.4130559680288903]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[0.47237589653294343,-0.45931917319145565,0.71338606911949],"aabb_xy":[[0.4675323017717135,-0.4641708256704398],[0.47721949129417346,-0.4544675207124716]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[-0.25084877217275797,-1.0301067045898509,0.71338606911949],"aabb_xy":[[-0.2640000181440474,-1.0551067043465374],[-0.23769752620146867,-1.0051067048331643]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[0.24978473028233794,-1.7477618345173291,0.71338606911949],"aabb_xy":[[0.18578472699262985,-1.7910967535212468],[0.31378473357204606,-1.7044269155134115]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[-0.2445486374448131,-0.5246774435458059,0.71338606911949],"aabb_xy":[[-0.25183095382147663,-0.6146774471553147],[-0.23726632106814935,-0.43467743993629676]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.18509176449162024,-0.9488030969305428,0.71338606911949],"aabb_xy":[[0.1672982575567038,-0.9666028425263403],[0.20288527142653667,-0.931003351334745]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.05423717211232837,0.4861620620655178,0.71338606911949],"aabb_xy":[[-0.06508877836120397,0.4753027713378668],[-0.04338556586345277,0.49702135279316884]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.19899182101062202,-1.2225744544249328,0.71338606911949],"aabb_xy":[[-0.2789918184142154,-1.3025670256231154],[-0.11899182360702858,-1.1425818832267498]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.2685633932991832,-0.9305817509502732,0.71338606911949],"aabb_xy":[[-0.30606339359135804,-0.9346232263508766],[-0.2310633930070084,-0.9265402755496693]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.5321499918495891,0.8963921182618111,0.71338606911949],"aabb_xy":[[-0.555735115313484,0.8313921160163793],[-0.5085648683856943,0.9613921205072429]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.3731025874127145,0.2675974722716363,0.71338606911949],"aabb_xy":[[-0.3811389221139993,0.2595593529672195],[-0.3650662527114296,0.27563559157605305]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[-0.5385815163575217,-2.4344632154749757,0.71338606911949],"aabb_xy":[[-0.5552586523506172,-2.4511631394489055],[-0.5219043803644262,-2.417763291501045]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[-0.5787137232872699,-0.2339346301951304,0.71338606911949],"aabb_xy":[[-0.6086812801970956,-0.26393463049301613],[-0.5487461663774442,-0.20393462989724465]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.5427809858957957,0.2018381897885777,0.71338606911949],"aabb_xy":[[0.5202809863720883,0.1793422423379569],[0.5652809854195031,0.22433413723919846]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[-0.20820431911173554,0.9261492032444534,0.71338606911949],"aabb_xy":[[-0.23148616130986688,0.8411492019472253],[-0.1849224769136042,1.0111492045416814]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.4857602007405968,-2.469387557676315,0.71338606911949],"aabb_xy":[[0.47065789927957863,-2.484489079307376],[0.5008625022016148,-2.4542860360452523]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.4536243094361121,0.4545756848680709,0.71338606911949],"aabb_xy":[[0.4465839995025752,0.3745756854683996],[0.4606646193696492,0.5345756842677425]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[-0.20542957320073357,-1.604942749212567,0.71338606911949],"aabb_xy":[[-0.22792957371277417,-1.6274346075779653],[-0.18292957268869298,-1.5824508908471686]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[-0.3759244563123066,1.1041253292558504,0.71338606911949],"aabb_xy":[[-0.4134244578279383,1.092898556239705],[-0.3384244547966749,1.1153521022719952]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[-0.14114381039894008,-2.0412507141070617,0.71338606911949],"aabb_xy":[[-0.23083088670705557,-2.1312507143615123],[-0.05145673409082466,-1.9512507138526112]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[-0.6439226251146114,-1.2552904648360244,0.71338606911949],"aabb_xy":[[-0.6660951520912621,-1.2774661319921474],[-0.6217500981379604,-1.2331147976799013]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[0.16559242943343622,-1.0549235537161437,0.71338606911949],"aabb_xy":[[0.1559607932130066,-1.0645608664958526],[0.17522406565386583,-1.0452862409364347]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[-0.454676699276766,-2.0989213604461727,0.71338606911949],"aabb_xy":[[-0.5186766965791123,-2.143287787414029],[-0.39067670197441956,-2.0545549334783155]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_28","position":[0.46667899502791244,-1.0681354790489301,0.71338606911949],"aabb_xy":[[0.39667899342563295,-1.0815682722505877],[0.5366789966301919,-1.0547026858472726]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_29","position":[0.568483593979471,0.8998390432618306,0.71338606911949],"aabb_xy":[[0.5439373783567202,0.8695901467127936],[0.5930298096022216,0.9300879398108677]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[0.5432944935213557,-0.9699100379129746,0.71338606911949],"aabb_xy":[[0.5062603840932959,-1.004287245246684],[0.5803286029494154,-0.9355328305792652]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556528835524902,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/743.png","name":"743"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/743.png","name":"743"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8651.png","name":"8651"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9953.png","name":"9953"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7534.png","name":"7534"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8549.png","name":"8549"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":514.6642033947262,"rotation_z_degrees":113.14871886503019,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01935054174115725,-0.011766132408791883,-0.0018797695683769877]},{"name":"camera_2","offset_m":[-0.01202414587828681,0.009056583438116723,-0.004620580893790454]},{"name":"camera_3","offset_m":[-0.01081655733578864,-0.003116226472111447,-0.01973544951716837]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004064930029832104,0.0014674453725995718,-0.00010810672354287336],"end_effector_yaw_offset_degrees":-0.3803321000417692},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005705267548890057,-0.0019331764775376069,0.00032464522104925456],"end_effector_yaw_offset_degrees":-0.9967411929132426},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000767791797072852,-0.0013011843077050137,-0.0010182340971859284],"end_effector_yaw_offset_degrees":-0.31629047612733774}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018505225529114734,-0.002282034966174088],"position_m":[0.21544947744708853,-0.022582034966174086,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00029136940742788796,0.0027889956062079535],"position_m":[0.21390863059257212,-0.37621100439379207,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003246771667955245,0.0006548684048244772],"position_m":[0.20695322833204474,0.29625486840482446,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004559396356597215,-0.004994306320255927],"position_m":[0.3563593963565972,0.12690569367974405,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b4a58194d264395e65fac9043578e2f1777c17a7f9adcf0ba4fd0d7107f0a48","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0002.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_743/tex_ceiling_textures_8549/tex_floor_textures_7534/tex_table_textures_8651/tex_wall_textures_9953","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2061942166008621709,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2061942166008621709,"visual_seed":2061942166008621709,"scene_id":"lab_003","finished_at":"2026-09-04T07:29:44"}
+{"episode_id":"ep_000003","started_at":"2026-09-04T07:29:48","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.14321721013681754,-0.7055566612237405,0.71338606911949],"aabb_xy":[[0.08558674124954667,-0.7655566601504509],[0.20084767902408834,-0.6455566622970298]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.40775475591292154,-1.304345343591066,0.71338606911949],"aabb_xy":[[0.3576572919318479,-1.3683453441008777],[0.45785221989399516,-1.240345343081254]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.33253373108254897,0.3587266758104346,0.71338606911949],"aabb_xy":[[-0.3700337315799072,0.35475799226231625],[-0.2950337305851907,0.36269535935855307]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.007391648025537156,-1.197101377928262,0.71338606911949],"aabb_xy":[[-0.01465289559594457,-1.2098883881917715],[-0.0001304004551297422,-1.1843143676647525]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.5572546878594502,-0.8292742633686745,0.71338606911949],"aabb_xy":[[0.4932546914638771,-0.893237551787408],[0.6212546842550233,-0.7653109749499409]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.13834605516973708,0.9370679137078821,0.71338606911949],"aabb_xy":[[0.1158460553558347,0.9325932973374014],[0.16084605498363946,0.9415425300783629]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.5868153092530084,-1.873002427700254,0.71338606911949],"aabb_xy":[[0.5742126101159319,-1.8855978239251197],[0.5994180083900849,-1.8604070314753887]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[-0.6392725196761843,1.3177793659471333,0.71338606911949],"aabb_xy":[[-0.6742725210276659,1.2974196299903125],[-0.6042725183247024,1.3381391019039541]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[0.29421292903560403,-2.5605801499631466,0.71338606911949],"aabb_xy":[[0.2142129318760287,-2.5721277509209637],[0.37421292619517926,-2.5490325490053296]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.43934471147806303,-1.3939738979047727,0.71338606911949],"aabb_xy":[[-0.4480586805279974,-1.4164738985639607],[-0.43063074242812843,-1.3714738972455842]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[-0.6023235168122731,1.568769513601476,0.71338606911949],"aabb_xy":[[-0.6523227919807093,1.5187695123255287],[-0.552324241643837,1.618769514877423]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[0.23906246158004762,-2.1406587065820237,0.71338606911949],"aabb_xy":[[0.22300053412152995,-2.225658708394615],[0.2551243890385652,-2.0556587047694315]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.5168497260050255,-0.9908357265527723,0.71338606911949],"aabb_xy":[[-0.5668339617132027,-1.0408357253662677],[-0.4668654902968482,-0.9408357277392765]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[0.15673454143672916,-1.8919966562062875,0.71338606911949],"aabb_xy":[[0.13667612982348887,-1.912061743115445],[0.17679295304996945,-1.8719315692971297]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.14277103526761925,-2.123068884473919,0.71338606911949],"aabb_xy":[[-0.18378897865399013,-2.1730688851048763],[-0.10175309188124837,-2.0730688838429616]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.13316814077195893,-0.6477916864244884,0.71338606911949],"aabb_xy":[[-0.15096164770687537,-0.665591432020286],[-0.1153746338370425,-0.6299919408286907]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.5284696911939006,-1.1632246307808904,0.71338606911949],"aabb_xy":[[0.518387984115327,-1.243224628673005],[0.538551398272474,-1.0832246328887758]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[0.015324226132471086,-1.644457158161802,0.71338606911949],"aabb_xy":[[-0.022175773973121867,-1.651279320014783],[0.052824226238064036,-1.6376349963088208]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.3379333723131879,-1.9483917241504525,0.71338606911949],"aabb_xy":[[0.32050265723418137,-1.965663838814303],[0.3553640873921944,-1.9311196094866014]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.5196221301397635,-0.1634856514804648,0.71338606911949],"aabb_xy":[[-0.5421221301499118,-0.17758187112006804],[-0.49712213012961526,-0.14938943184086148]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.45782549702131903,-2.180078569987949,0.71338606911949],"aabb_xy":[[-0.47810979974471773,-2.200361195130657],[-0.4375411942979202,-2.1597959448452397]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[0.7069480327910145,-1.2910729030810977,0.71338606911949],"aabb_xy":[[0.6977881538471379,-1.2976041211246347],[0.7161079117348911,-1.2845416850375606]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[-0.29673116987536796,-2.4342509563176757,0.71338606911949],"aabb_xy":[[-0.3567311703832209,-2.491097690003597],[-0.23673116936751507,-2.3774042226317538]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659567533799416,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5602.png","name":"5602"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5602.png","name":"5602"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2631.png","name":"2631"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7488.png","name":"7488"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4772.png","name":"4772"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/419.png","name":"419"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":596.7027090947755,"rotation_z_degrees":286.9112442660633,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015822492112737802,0.014068164751160007,0.008551398875666472]},{"name":"camera_2","offset_m":[-0.009314615163759307,-0.004769078093836594,0.013083068324443687]},{"name":"camera_3","offset_m":[-0.006705178475626558,0.007103889177373333,0.010124081751299613]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016291988218804874,0.0016379345472420734,-1.4592753016978537e-05],"end_effector_yaw_offset_degrees":0.1615121865283735},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006017589216701156,-0.0014691828370853317,-0.0017944483305384292],"end_effector_yaw_offset_degrees":0.060610272286948375},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007434168353996852,-0.00093916989652706,-0.001421012570242989],"end_effector_yaw_offset_degrees":0.6319857059100746}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004601625496599974,-0.0004799491019590284],"position_m":[0.2126983745034,-0.020779949101959027,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026603324862410635,0.00017995639182718636],"position_m":[0.21686033248624106,-0.37882004360817284,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00125423408692559,0.0033929667071035405],"position_m":[0.2089457659130744,0.2989929667071035,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008909773327210949,-0.004905840606867252],"position_m":[0.3509090226672789,0.12699415939313274,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"918abef3d8c28411fc82f109a3e929efb98e6933aa3be4946b5f8d960b86d4c2","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5602/tex_ceiling_textures_419/tex_floor_textures_4772/tex_table_textures_2631/tex_wall_textures_7488","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2064497147294078503,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2064497147294078503,"visual_seed":2064497147294078503,"scene_id":"lab_003","finished_at":"2026-09-04T07:32:34"}
+{"episode_id":"ep_000004","started_at":"2026-09-04T07:32:39","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[0.05805254879580379,0.7516103029861534,0.71338606911949],"aabb_xy":[[0.020552548690210833,0.7447881411331722],[0.09555254890139674,0.7584324648391344]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[-0.6026681446451682,0.8426287784934532,0.71338606911949],"aabb_xy":[[-0.6114701999541408,0.834817452338524],[-0.5938660893361953,0.8504401046483822]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[0.5158085820121374,-0.5849927253320955,0.71338606911949],"aabb_xy":[[0.43580858504909814,-0.6620683669758689],[0.5958085789751765,-0.507917083688322]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[0.5812160634363652,1.0434311666476868,0.71338606911949],"aabb_xy":[[0.5462160651662452,1.0363570389526986],[0.616216061706485,1.050505294342675]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[0.5397148208857447,0.7613859660873366,0.71338606911949],"aabb_xy":[[0.5097231581518744,0.7313859667505359],[0.5697064836196151,0.791385965424137]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.52400347306451,-1.9100887902633512,0.71338606911949],"aabb_xy":[[0.49022791387381703,-1.9241272854765161],[0.557779032255203,-1.8960502950501863]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.18407071148955745,-2.4677415173992703,0.71338606911949],"aabb_xy":[[-0.23395340836725367,-2.5177415166455455],[-0.13418801461186125,-2.417741518152996]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.3101370013914839,-0.9044065853373531,0.71338606911949],"aabb_xy":[[-0.3425987022734113,-0.9345394174522555],[-0.2776753005095564,-0.8742737532224504]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.64300706632502,1.372819557640094,0.71338606911949],"aabb_xy":[[0.601702523261284,1.3088195580719766],[0.684311609388756,1.4368195572082108]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[-0.4187095579264163,-0.0794110916415387,0.71338606911949],"aabb_xy":[[-0.4787095585224324,-0.13422356418676218],[-0.35870955733040005,-0.024598619096315222]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[0.5953871392987216,-2.3430178728486144,0.71338606911949],"aabb_xy":[[0.5834544049368935,-2.3554000256564738],[0.6073198736605496,-2.330635720040755]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.4319125465532227,-0.48946421270022666,0.71338606911949],"aabb_xy":[[-0.48189135506353864,-0.5394642127059455],[-0.38193373804290687,-0.4394642126945078]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[-0.5630698533532055,-2.377802494600566,0.71338606911949],"aabb_xy":[[-0.6180435753895384,-2.432802494164799],[-0.5080961313168726,-2.3228024950363326]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[-0.6068031407114852,0.5491914337175854,0.71338606911949],"aabb_xy":[[-0.6708031371070583,0.48522814529885183],[-0.5428031443159121,0.6131547221363189]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.6196994223592629,1.0131274098891407,0.71338606911949],"aabb_xy":[[-0.6304723962806308,0.9781274116701018],[-0.6089264484378952,1.0481274081081797]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[0.4758356633544838,0.5746574457579956,0.71338606911949],"aabb_xy":[[0.4412445805004386,0.5096574454729644],[0.510426746208529,0.6396574460430265]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[0.6244189739995516,-1.6171394166483188,0.71338606911949],"aabb_xy":[[0.5899564959864637,-1.6238030938312416],[0.6588814520126393,-1.6104757394653961]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.09845882212229273,1.7993519377342087,0.71338606911949],"aabb_xy":[[-0.11666464578354042,1.7883265371522172],[-0.08025299846104507,1.8103773383162005]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[0.3116490273945516,1.1581691471927114,0.71338606911949],"aabb_xy":[[0.2960932579842864,1.1426187139483042],[0.3272047968048169,1.1737195804371185]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.33051186403927657,-2.298584434715907,0.71338606911949],"aabb_xy":[[-0.35502548813628243,-2.3228490280179437],[-0.3059982399422707,-2.274319841413871]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.29729304918781996,0.6234578351822884,0.71338606911949],"aabb_xy":[[0.28406210365313866,0.6102304161602888],[0.31052399472250125,0.6366852542042877]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[0.004553495343454506,-2.144121438188207,0.71338606911949],"aabb_xy":[[-0.0604465056136727,-2.196069650121913],[0.0695534963005817,-2.0921732262545016]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.24238276462938613,-1.3204410323302114,0.71338606911949],"aabb_xy":[[0.17738276362888558,-1.3712273974848863],[0.30738276562988665,-1.2696546671755364]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.21591005487993686,-0.8914324108837377,0.71338606911949],"aabb_xy":[[0.2078837842493109,-0.9001839058610904],[0.2239363255105629,-0.8826809159063852]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.654151585247425,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1920.png","name":"1920"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1920.png","name":"1920"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3307.png","name":"3307"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2031.png","name":"2031"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9833.png","name":"9833"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/46.png","name":"46"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":517.0808118548066,"rotation_z_degrees":82.9741040232958,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011793927152277107,0.014922209751745647,-0.006296360722262074]},{"name":"camera_2","offset_m":[-0.0028199486435313004,0.019941382660335013,0.016347786196786587]},{"name":"camera_3","offset_m":[-0.015351942416098673,0.01915306769353479,0.002228565822378844]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001924878966169886,0.0003961296657265536,-0.0002924139691354859],"end_effector_yaw_offset_degrees":0.4256426664218982},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016892788533786876,6.182660636890394e-05,0.00010362611980387895],"end_effector_yaw_offset_degrees":-0.3720732628735104},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004920756290890632,0.0004167397232265001,-0.0002246924812700675],"end_effector_yaw_offset_degrees":-0.237142435454206}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00014720463505816465,-0.0036163440602008665],"position_m":[0.21715279536494184,-0.023916344060200864,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013826292527533992,0.0038479073078757356],"position_m":[0.2128173707472466,-0.3751520926921243,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000787988252855738,0.0002951919822233749],"position_m":[0.21098798825285572,0.29589519198222336,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011136745386931789,-0.003002097046609079],"position_m":[0.35068632546130685,0.1288979029533909,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6fda85df3082806a9ef68d393760979fd940493a366bc648d524fe2e017b3ed9","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0004.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1920/tex_ceiling_textures_46/tex_floor_textures_9833/tex_table_textures_3307/tex_wall_textures_2031","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2143836050052175762,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2143836050052175762,"visual_seed":2143836050052175762,"scene_id":"lab_003","finished_at":"2026-09-04T07:35:47"}
+{"episode_id":"ep_000005","started_at":"2026-09-04T07:35:50","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[-0.48022193625966536,-2.341638777966741,0.71338606911949],"aabb_xy":[[-0.5177219374444582,-2.3460570006628005],[-0.44272193507487256,-2.3372205552706795]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.4593071409833059,1.0250342480924517,0.71338606911949],"aabb_xy":[[-0.4673006307785879,1.0170361161519763],[-0.45131365118802386,1.0330323800329275]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.24593049128629407,-1.8782188376909401,0.71338606911949],"aabb_xy":[[-0.25462845357700936,-1.890343811998415],[-0.23723252899557878,-1.8660938633834656]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.3221958527066655,-1.909526516581605,0.71338606911949],"aabb_xy":[[0.3093239492057253,-1.9895265169954413],[0.3350677562076056,-1.829526516167769]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.314877600095294,-0.7295031861986148,0.71338606911949],"aabb_xy":[[0.25975239446570314,-0.7895031876399019],[0.3700028057248847,-0.6695031847573276]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.5549879960301499,0.12780188411042026,0.71338606911949],"aabb_xy":[[-0.5785731194940448,0.06280188186498847],[-0.5314028725662551,0.19280188635585205]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.4597921834776596,-1.0484958058482028,0.71338606911949],"aabb_xy":[[-0.5397921839478756,-1.056806513462551],[-0.3797921830074438,-1.0401850982338545]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[-0.0938370083445087,-1.3222138213824581,0.71338606911949],"aabb_xy":[[-0.15146747723177953,-1.3822138203091685],[-0.036206539457237834,-1.2622138224557473]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[0.4274117216023827,-1.7895963685124983,0.71338606911949],"aabb_xy":[[0.4041298794042513,-1.8745963698097263],[0.450693563800514,-1.7045963672152702]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[-0.04409490567716501,0.8496753802288661,0.71338606911949],"aabb_xy":[[-0.12409490433405101,0.8351705213046033],[0.03590509297972099,0.8641802391531289]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.4537223919549349,-2.0618041021027347,0.71338606911949],"aabb_xy":[[0.41622239337931405,-2.074540397766292],[0.49122239053055566,-2.0490678064391763]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[-0.07334529129588074,0.4054845442930479,0.71338606911949],"aabb_xy":[[-0.1373452898824532,0.35847758089353915],[-0.009345292709308284,0.4524915076925566]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[0.003790734376615146,-1.5927451192822266,0.71338606911949],"aabb_xy":[[-0.046204098551326456,-1.6427451181774702],[0.05378556730455675,-1.542745120386983]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.3953077023820721,-2.157911813814517,0.71338606911949],"aabb_xy":[[-0.4374921165429028,-2.221911814091728],[-0.35312328822124134,-2.093911813537306]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.4752492517088547,-0.1836564839418533,0.71338606911949],"aabb_xy":[[0.4152492512010017,-0.2405032176277746],[0.5352492522167075,-0.126809750255932]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_15","position":[-0.34803482094655314,-1.47542901421193,0.71338606911949],"aabb_xy":[[-0.41203482328935465,-1.5203698654560627],[-0.2840348186037515,-1.4304881629677977]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[-0.646718351887151,1.3205394714680012,0.71338606911949],"aabb_xy":[[-0.6692147733210151,1.2980394716612538],[-0.6242219304532869,1.3430394712747487]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[-0.12481064698565514,1.2780165937030254,0.71338606911949],"aabb_xy":[[-0.16981064845188398,1.2330167368415448],[-0.0798106455194263,1.3230164505645061]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.42792071726104064,1.663501788320087,0.71338606911949],"aabb_xy":[[0.4153180181239642,1.6509063920952216],[0.4405234163981171,1.6760971845449526]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[0.41498107441929566,-1.1025641714596783,0.71338606911949],"aabb_xy":[[0.3871360376386885,-1.1333486701979898],[0.4428261111999027,-1.0717796727213664]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.05922073519407611,1.6737536201029823,0.71338606911949],"aabb_xy":[[-0.1392207366242033,1.5942364650903726],[0.020779266236051093,1.7532707751155916]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[0.5605333929453875,-0.06776482668465178,0.71338606911949],"aabb_xy":[[0.5564552350383378,-0.07184580693291509],[0.5646115508524372,-0.06368384643638847]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[-0.27458988337993584,0.9392942344811317,0.71338606911949],"aabb_xy":[[-0.2970898833900841,0.9251980148415283],[-0.2520898833697875,0.9533904541207349]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[0.3770712272699983,0.35170374270204574,0.71338606911949],"aabb_xy":[[0.3520712277182598,0.341561258836911],[0.4020712268217368,0.36184622656718046]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561594563034021,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7373.png","name":"7373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7373.png","name":"7373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4890.png","name":"4890"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/946.png","name":"946"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7849.png","name":"7849"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6219.png","name":"6219"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":574.4701657652965,"rotation_z_degrees":202.59948402839314,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009217392139369805,0.005328514562814593,0.015254866886861163]},{"name":"camera_2","offset_m":[0.010132564990117828,-0.018385369945122677,-0.004779033787713778]},{"name":"camera_3","offset_m":[0.015264236396937244,-0.0038777702724619584,-0.019354126636523947]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000398656738771222,-0.0008814182136519695,0.000356350260510928],"end_effector_yaw_offset_degrees":-0.44943892983671163},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017855705707103967,-0.0012367386876596487,0.00042986385831962756],"end_effector_yaw_offset_degrees":0.12131503938457389},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018959910059780298,0.0014775368260593197,-0.0002011533338416886],"end_effector_yaw_offset_degrees":-0.40409702836674954}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002274063748851453,0.0032894978225671166],"position_m":[0.21957406374885144,-0.01701050217743288,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0047014375728745145,-0.004296053568059413],"position_m":[0.2094985624271255,-0.3832960535680594,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0025216596166549015,-0.003019120254519275],"position_m":[0.2127216596166549,0.2925808797454807,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004748062340646641,-0.00031324720582968403],"position_m":[0.3565480623406466,0.13158675279417031,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"75dbc684d25bb97658efe2e4b48c942caa1aab2b14734ea51ec1628eaf3d00eb","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0005.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7373/tex_ceiling_textures_6219/tex_floor_textures_7849/tex_table_textures_4890/tex_wall_textures_946","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":7017329840616948128,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":7017329840616948128,"visual_seed":7017329840616948128,"scene_id":"lab_003","finished_at":"2026-09-04T07:38:34"}
+{"episode_id":"ep_000006","started_at":"2026-09-04T07:38:39","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[-0.6056655022883102,-0.4262998972414822,0.71338606911949],"aabb_xy":[[-0.6706655004442293,-0.45259614179139435],[-0.5406655041323912,-0.40000365269156996]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[-0.4785050423769194,-1.7958963014290152,0.71338606911949],"aabb_xy":[[-0.48591749791830785,-1.8017475118506432],[-0.4710925868355309,-1.7900450910073873]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[0.28303882545085013,-2.458687185562667,0.71338606911949],"aabb_xy":[[0.21303882384857065,-2.4721199787643244],[0.3530388270531296,-2.4452543923610093]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[0.4258870094784444,0.9904399447660457,0.71338606911949],"aabb_xy":[[0.3358870108839745,0.9741893584526247],[0.5158870080729143,1.0066905310794667]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.09582559713574856,-1.288158147423021,0.71338606911949],"aabb_xy":[[0.0903676514987285,-1.36815815073068],[0.10128354277276863,-1.2081581441153617]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[-0.5918441571820406,0.8897761699120044,0.71338606911949],"aabb_xy":[[-0.6268441585335223,0.8694164339551834],[-0.5568441558305588,0.9101359058688251]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[-0.21212484631763423,1.6808040921644234,0.71338606911949],"aabb_xy":[[-0.2761248495362721,1.634080980265415],[-0.14812484309899637,1.7275272040634317]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[-0.28978533900781206,0.686101908686497,0.71338606911949],"aabb_xy":[[-0.3243764218618572,0.621101908401466],[-0.2551942561537668,0.7511019089715281]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[-0.3906727122808039,-2.0631455783980663,0.71338606911949],"aabb_xy":[[-0.39938668133073835,-2.085645579057254],[-0.38195874323086937,-2.0406455777388777]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.045227098359029494,1.097694080474342,0.71338606911949],"aabb_xy":[[0.016577765998613256,1.069048521197266],[0.0738764307194457,1.1263396397514176]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[0.23526848259920674,1.0160051519509037,0.71338606911949],"aabb_xy":[[0.2272321478979219,1.0079670326464867],[0.24330481730049158,1.0240432712553202]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.44929873366285267,0.3286196533796204,0.71338606911949],"aabb_xy":[[-0.45539336155097104,0.32005025882795174],[-0.4432041057747344,0.3371890479312892]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.3723531924660807,-0.8541479352546237,0.71338606911949],"aabb_xy":[[-0.45735319088350396,-0.9390222307169087],[-0.2873531940486575,-0.7692736397923388]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.13251674834046967,1.7271369209131708,0.71338606911949],"aabb_xy":[[0.0987411891497767,1.713098425700006],[0.16629230753116264,1.7411754161263358]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[-0.5643319756492432,0.06798331228724352,0.71338606911949],"aabb_xy":[[-0.5993319748420615,0.05701626628958088],[-0.5293319764564249,0.07895035828490614]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.6743935331903476,-0.7282475304872742,0.71338606911949],"aabb_xy":[[-0.6797311088563521,-0.7532475314164139],[-0.669055957524343,-0.7032475295581343]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[-0.21663451588860866,1.4099512319119323,0.71338606911949],"aabb_xy":[[-0.27822527511260153,1.3459512338028854],[-0.15504375666461587,1.4739512300209792]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.2053171661242592,-2.1118607691321145,0.71338606911949],"aabb_xy":[[0.18031716685229696,-2.128206132728277],[0.23031716539622152,-2.095515405535952]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[0.2049353432657708,1.5628894570300207,0.71338606911949],"aabb_xy":[[0.16902183884078106,1.526975948813266],[0.24084884769076045,1.598802965246775]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[-0.4359987052897652,-0.4758604314753021,0.71338606911949],"aabb_xy":[[-0.49999870599323465,-0.5218788139482231],[-0.3719987045862959,-0.42984204900238115]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.44690952268300643,-2.0844755143440636,0.71338606911949],"aabb_xy":[[0.4094095223908316,-2.088516989744667],[0.48440952297518125,-2.0804340389434595]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.15734903800860178,0.9438814045289123,0.71338606911949],"aabb_xy":[[-0.20734903929244172,0.8939025501382901],[-0.1073490367247618,0.9938602589195343]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[0.36582991258109,0.6905354536309223,0.71338606911949],"aabb_xy":[[0.34872783462272183,0.6734286480996525],[0.38293199053945814,0.707642259162192]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[0.3753147704443158,-1.6480461022070556,0.71338606911949],"aabb_xy":[[0.3564303866758056,-1.6669320269874086],[0.39419915421282603,-1.629160177426703]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_24","position":[-0.3791748008905561,1.1483837493897728,0.71338606911949],"aabb_xy":[[-0.43417480006714554,1.0933940746148152],[-0.32417480171396656,1.2033734241647305]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_25","position":[-0.37044468677369097,-1.1111817523555436,0.71338606911949],"aabb_xy":[[-0.4554446854657655,-1.1431676157504225],[-0.2854446880816162,-1.0791958889606648]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[-0.05209860683427325,-2.4423888717359454,0.71338606911949],"aabb_xy":[[-0.11709860794021654,-2.4673542448040737],[0.01290139427167003,-2.417423498667817]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[0.45107625711961585,-1.3489688628145051,0.71338606911949],"aabb_xy":[[0.43501432966109815,-1.4339688646270967],[0.46713818457813344,-1.263968861001913]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_28","position":[0.18789354968411953,-0.8176142943808631,0.71338606911949],"aabb_xy":[[0.17002444192966404,-0.8314472023580739],[0.20576265743857503,-0.803781386403652]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555839862812357,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9890.png","name":"9890"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9890.png","name":"9890"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/269.png","name":"269"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9604.png","name":"9604"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2792.png","name":"2792"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2042.png","name":"2042"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":645.0481721665055,"rotation_z_degrees":342.75395484280875,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011522913363166461,0.016531458533058107,0.006543434903304876]},{"name":"camera_2","offset_m":[-0.016800323873363478,-0.0033369149434076817,0.005159770766030532]},{"name":"camera_3","offset_m":[-0.014084147567637664,0.00795973673386273,-0.011508139948196447]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-3.0079721431406064e-05,0.0011431891103533278,0.000985342423407489],"end_effector_yaw_offset_degrees":-0.16409960447949534},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016166412353185603,-0.0005476489740088946,-0.0009902203429972617],"end_effector_yaw_offset_degrees":0.7839420058574618},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002670714841505504,0.0018469217373656092,0.0013955287040463477],"end_effector_yaw_offset_degrees":0.49154757247272274}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00035605383485478714,-0.0012392069277933847],"position_m":[0.2169439461651452,-0.021539206927793382,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009048747977298179,0.004622817282490767],"position_m":[0.21510487479772983,-0.37437718271750925,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009418705814036301,-0.0012017674563676306],"position_m":[0.20925812941859637,0.29439823254363234,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003491290944060271,0.004079835264049681],"position_m":[0.35529129094406026,0.13597983526404966,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5ff9a7946935cbbc9e569eae3c8e5b9ee9181dec0cdba795bb952eb26c784305","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9890/tex_ceiling_textures_2042/tex_floor_textures_2792/tex_table_textures_269/tex_wall_textures_9604","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3191363691084963383,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3191363691084963383,"visual_seed":3191363691084963383,"scene_id":"lab_003","finished_at":"2026-09-04T07:41:47"}
+{"episode_id":"ep_000007","started_at":"2026-09-04T07:41:51","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[-0.6572363769290599,-1.2987150195699602,0.71338606911949],"aabb_xy":[[-0.690715544190101,-1.3321941329410674],[-0.6237572096680191,-1.2652359061988534]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.6710788909772485,0.17478967964165326,0.71338606911949],"aabb_xy":[[0.6616614164073856,0.1653735025039342],[0.6804963655471111,0.18420585677937226]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[0.35206972518742696,-0.43801331549551836,0.71338606911949],"aabb_xy":[[0.3481092414176926,-0.445681180081039],[0.3560302089571613,-0.4303454509099978]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[0.5867831121179758,-0.04222582278006026,0.71338606911949],"aabb_xy":[[0.5067831110448555,-0.0520038691174447],[0.6667831131910962,-0.032447776442675824]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[0.1067009832501179,-1.9435614794779028,0.71338606911949],"aabb_xy":[[0.065683039863747,-1.99356148010886],[0.14771892663648878,-1.8935614788469453]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[-0.46597728172108316,-2.014647841255564,0.71338606911949],"aabb_xy":[[-0.5299772790234296,-2.0590142682234207],[-0.40197728441873676,-1.9702814142877072]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.5116371864886029,-1.7089614463051215,0.71338606911949],"aabb_xy":[[0.4616542363011235,-1.7589614459476814],[0.5616201366760821,-1.6589614466625606]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.09854311967668561,-1.7198177612642878,0.71338606911949],"aabb_xy":[[0.06608141879475814,-1.7499505933791901],[0.13100482055861304,-1.689684929149385]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.5382971092308722,0.7418293583813798,0.71338606911949],"aabb_xy":[[-0.5982971090774389,0.6850107361883411],[-0.47829710938430536,0.7986479805744184]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.19967416003098726,0.3433274372521007,0.71338606911949],"aabb_xy":[[-0.235303315930947,0.30769477049524774],[-0.16404500413102752,0.37896010400895364]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.6169194710693502,1.5783069743602254,0.71338606911949],"aabb_xy":[[0.5794194707211223,1.5665155787791414],[0.6544194714175778,1.5900983699413085]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[0.6728935575730617,-1.8088562047787913,0.71338606911949],"aabb_xy":[[0.6276149426919124,-1.8728562041269747],[0.7181721724542109,-1.7448562054306074]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.452132054458969,1.7086003165935657,0.71338606911949],"aabb_xy":[[-0.4580985933997048,1.7026391719342013],[-0.44616551551823325,1.7145614612529296]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.07351322732260734,-1.7509019245136854,0.71338606911949],"aabb_xy":[[-0.07762917743468,-1.7550174795465308],[-0.06939727721053467,-1.7467863694808397]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[-0.09922193502047405,-2.265581002815352,0.71338606911949],"aabb_xy":[[-0.10646570106671936,-2.3455810010189544],[-0.09197816897422871,-2.1855810046117496]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[0.43118072489654224,-2.0913443935772107,0.71338606911949],"aabb_xy":[[0.3936807250795086,-2.0959826048883525],[0.4686807247135757,-2.086706182266069]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[0.37357974549894357,0.7216400424071452,0.71338606911949],"aabb_xy":[[0.30857974286115014,0.6701604437076981],[0.4385797481367371,0.773119641106592]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.1695686155370454,-1.3907267772590077,0.71338606911949],"aabb_xy":[[-0.21954168106956087,-1.440726777071541],[-0.11959555000452993,-1.3407267774464753]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[-0.5067527579487577,-1.5218377808031638,0.71338606911949],"aabb_xy":[[-0.5242527572268446,-1.5391758808695097],[-0.48925275867067086,-1.5044996807368178]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.22501085514564712,-1.7784400553730282,0.71338606911949],"aabb_xy":[[-0.24251085428001426,-1.7883196824106158],[-0.20751085601127991,-1.7685604283354401]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.6580897550160943,-1.6503410704457602,0.71338606911949],"aabb_xy":[[-0.6689955311036571,-1.730341066844589],[-0.6471839789285316,-1.5703410740469308]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[0.15830836452187647,-1.2261831831918084,0.71338606911949],"aabb_xy":[[0.15417250818917627,-1.2636831826361656],[0.16244422085457666,-1.1886831837474516]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[-0.1954240369731321,0.624634761831047,0.71338606911949],"aabb_xy":[[-0.2504172483102689,0.5696347614922536],[-0.14043082563599535,0.6796347621698408]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[-0.26293558188441823,-0.4270865875948968,0.71338606911949],"aabb_xy":[[-0.268972594885083,-0.433113288663845],[-0.25689856888375356,-0.4210598865259486]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[0.08773424351296455,-2.4732043403748114,0.71338606911949],"aabb_xy":[[0.04648543248304981,-2.5282043398870284],[0.12898305454287926,-2.4182043408625935]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[0.23499329638453736,0.9158562598948143,0.71338606911949],"aabb_xy":[[0.20053081837144957,0.9091925827118915],[0.26945577439762514,0.9225199370777372]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_26","position":[-0.0133455094504632,-1.3827403130754303,0.71338606911949],"aabb_xy":[[-0.018803455087483267,-1.4627403163830897],[-0.00788756381344313,-1.3027403097677714]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6578889594107277,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4242.png","name":"4242"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4242.png","name":"4242"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8972.png","name":"8972"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1504.png","name":"1504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6025.png","name":"6025"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1536.png","name":"1536"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":521.3104690355588,"rotation_z_degrees":45.51124121713925,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007763820388677518,0.005280647656565631,0.007223072437406056]},{"name":"camera_2","offset_m":[0.007912963435308326,-0.0032216055793860762,-0.00671241553302258]},{"name":"camera_3","offset_m":[-0.007278636992849733,-0.014923949063433306,0.016029267847350894]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006643909462792168,0.00023189047167902549,0.0003257675249053525],"end_effector_yaw_offset_degrees":0.6515909629819971},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006006147265343684,-0.00042948887602579423,-0.0018280766629207518],"end_effector_yaw_offset_degrees":0.7433970138334063},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.5286667795099832e-05,-0.001665538756381153,0.0009240930578280661],"end_effector_yaw_offset_degrees":0.830098900974537}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003696008006291422,-0.003827507428658783],"position_m":[0.2209960080062914,-0.02412750742865878,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000699424245652577,0.0003090712292858301],"position_m":[0.2148994242456526,-0.3786909287707142,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003931855361569005,-0.0010282515640190719],"position_m":[0.206268144638431,0.2945717484359809,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004456771350660739,-0.002878898931781585],"position_m":[0.35625677135066075,0.1290211010682184,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8ebee6f9f35df1dbd9c61eb642a93563804c2dd59f4fa2bf27ec3e47f21addbe","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4242/tex_ceiling_textures_1536/tex_floor_textures_6025/tex_table_textures_8972/tex_wall_textures_1504","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8820807818498752075,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8820807818498752075,"visual_seed":8820807818498752075,"scene_id":"lab_003","finished_at":"2026-09-04T07:44:40"}
+{"episode_id":"ep_000008","started_at":"2026-09-04T07:44:43","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.4516896522321615,-2.074330464351122,0.71338606911949],"aabb_xy":[[-0.4816572091419872,-2.1043304646490073],[-0.42172209532233584,-2.0443304640532363]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[-0.2677115142781041,1.3142766351304918,0.71338606911949],"aabb_xy":[[-0.27367805321883987,1.3083154904711276],[-0.2617449753373683,1.320237779789856]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.27007219516227365,1.1697704781201304,0.71338606911949],"aabb_xy":[[0.25573777003611015,1.1577102625655915],[0.28440662028843705,1.1818306936746692]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[0.3952557724514365,-1.9636392399024833,0.71338606911949],"aabb_xy":[[0.3899232577968236,-1.968963568147719],[0.40058828710604955,-1.9583149116572478]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[0.08198899454883446,1.236381057063665,0.71338606911949],"aabb_xy":[[0.07318693923986175,1.2285697309087358],[0.09079104985780717,1.244192383218594]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.017287238288568707,1.6813317628784517,0.71338606911949],"aabb_xy":[[-0.029159321300069818,1.5963317631848015],[-0.005415155277067596,1.7663317625721022]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[-0.20847632334642535,0.8438098327350252,0.71338606911949],"aabb_xy":[[-0.25560570234826097,0.7798098316906231],[-0.16134694434458965,0.907809833779427]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.4538689716962956,-1.3896321329277903,0.71338606911949],"aabb_xy":[[0.40387413876835404,-1.4396321318230338],[0.5038638046242372,-1.3396321340325468]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.5860922395448307,0.4251651144393258,0.71338606911949],"aabb_xy":[[0.5260922379019088,0.3731649651473816],[0.6460922411877525,0.47716526373127]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.5536348617695093,-0.6163136288422821,0.71338606911949],"aabb_xy":[[0.5086348603032804,-0.6613134857037628],[0.5986348632357381,-0.5713137719808015]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.3944095642422911,1.4903098409517006,0.71338606911949],"aabb_xy":[[0.3904490804725568,1.48264197636618],[0.39837004801202547,1.4979777055372212]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[0.2279222841025027,0.9379830273512559,0.71338606911949],"aabb_xy":[[0.20542228359046208,0.9154911689858575],[0.2504222846145433,0.9604748857166542]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.5653661024081352,-1.6098363689970947,0.71338606911949],"aabb_xy":[[-0.5831596093430517,-1.6276361145928924],[-0.5475725954732188,-1.592036623401297]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.4818703261613241,0.5408907407607901,0.71338606911949],"aabb_xy":[[-0.48990666086260887,0.5328526214563734],[-0.4738339914600392,0.5489288600652069]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[0.30268370239946896,-0.9447977264277141,0.71338606911949],"aabb_xy":[[0.2651837038238481,-0.9575340220912719],[0.3401837009750897,-0.932061430764156]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[-0.4247891468115133,-0.2512693087713327,0.71338606911949],"aabb_xy":[[-0.42849240814065204,-0.2549713270800505],[-0.42108588548237436,-0.2475672904626148]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[0.3735413926850779,0.6065249073412238,0.71338606911949],"aabb_xy":[[0.28354139035105885,0.5290425527561111],[0.46354139501909697,0.6840072619263364]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[-0.460886239595684,1.7433216057169383,0.71338606911949],"aabb_xy":[[-0.5158862387722734,1.6883319309419806],[-0.40588624041909444,1.798311280491896]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[0.6313161641822238,-1.240881097076559,0.71338606911949],"aabb_xy":[[0.6068025400852178,-1.2651456903785956],[0.6558297882792296,-1.2166165037745227]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[-0.03558974898056988,1.502644838346837,0.71338606911949],"aabb_xy":[[-0.039503622175992396,1.4938958229402801],[-0.03167587578514735,1.5113938537533937]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[-0.3161624995910592,-1.7038028300574082,0.71338606911949],"aabb_xy":[[-0.3801625019338607,-1.7487436813015405],[-0.25216249724825757,-1.6588619788132755]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[0.521337147125619,-2.0489092506056137,0.71338606911949],"aabb_xy":[[0.47634456040716855,-2.0939092498800624],[0.5663297338440694,-2.003909251331165]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[0.28151017163668246,1.548349631329088,0.71338606911949],"aabb_xy":[[0.23370400402291375,1.4833496286220291],[0.32931633925045106,1.6133496340361468]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.37767009873337193,0.4884965235727625,0.71338606911949],"aabb_xy":[[-0.4274868781982067,0.4384965250884591],[-0.32785331926853717,0.5384965220570659]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[-0.5907298037470718,0.47430621660135275,0.71338606911949],"aabb_xy":[[-0.6107882153603121,0.4542411296921952],[-0.5706713921338316,0.4943713035105103]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[0.01738314662635354,-1.4960757897263603,0.71338606911949],"aabb_xy":[[0.011288518738235224,-1.504645184278029],[0.023477774514471864,-1.4875063951746916]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_26","position":[0.6239661453601639,-0.0064198740769323415,0.71338606911949],"aabb_xy":[[0.5915044444782364,-0.03655270619183495],[0.6564278462420913,0.023712958037970272]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[0.16205125323593894,-1.3904247588571659,0.71338606911949],"aabb_xy":[[0.11206830304845959,-1.4404247584997258],[0.21203420342341825,-1.340424759214605]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_28","position":[0.30020771321237616,-2.0649703984694967,0.71338606911949],"aabb_xy":[[0.25032501633467996,-2.1149703977157714],[0.35009041009007236,-2.014970399223222]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_29","position":[-0.6041147312479196,1.6115670816164624,0.71338606911949],"aabb_xy":[[-0.6266138669741466,1.5890670808381993],[-0.5816155955216926,1.6340670823947252]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_30","position":[-0.4607766843047004,0.12305326740038769,0.71338606911949],"aabb_xy":[[-0.524776684682234,0.07330800054957544],[-0.3967766839271668,0.17279853425119995]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_31","position":[-0.4561518308191015,1.0349864687422627,0.71338606911949],"aabb_xy":[[-0.4707952363731344,1.0203277490854783],[-0.44150842526506845,1.0496451883990467]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_32","position":[-0.4493744696459896,1.3218484497416547,0.71338606911949],"aabb_xy":[[-0.4921411765254098,1.257848446319852],[-0.4066077627665694,1.385848453163457]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.657047389878927,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3992.png","name":"3992"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3992.png","name":"3992"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/75.png","name":"75"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6197.png","name":"6197"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7011.png","name":"7011"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6244.png","name":"6244"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":643.2474095314795,"rotation_z_degrees":51.67676373271456,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024493003936260915,-0.0013551679727767142,0.012527385586722586]},{"name":"camera_2","offset_m":[0.014291010563398394,-0.012057073615925331,-0.0011025126717045114]},{"name":"camera_3","offset_m":[-0.0007695178639600952,-0.004258436727295832,0.004966809101092512]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003740941064186388,-0.0009400056772299998,-0.0011077353821846822],"end_effector_yaw_offset_degrees":0.01933224782552645},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009483750569259501,-0.0013932281444554002,0.00044292814421125317],"end_effector_yaw_offset_degrees":-0.31571250378507587},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009758987910795875,-0.0015763222292139885,-0.0008294967840679491],"end_effector_yaw_offset_degrees":0.9222173616083311}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014684962806888469,-0.0026194757285948255],"position_m":[0.21583150371931115,-0.022919475728594825,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023996174554370784,0.004209265904485396],"position_m":[0.21659961745543707,-0.3747907340955146,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008241368478275482,-0.0032080093279611846],"position_m":[0.21102413684782756,0.2923919906720388,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018660060080628671,-0.0035999139040528193],"position_m":[0.34993399399193714,0.12830008609594717,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"96b37470aa4073cc5ff3d739bcf1292c5c507cc0e2fd22e618f66e8967110cd7","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0008.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3992/tex_ceiling_textures_6244/tex_floor_textures_7011/tex_table_textures_75/tex_wall_textures_6197","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5770525482730744489,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5770525482730744489,"visual_seed":5770525482730744489,"scene_id":"lab_003","finished_at":"2026-09-04T07:48:01"}
+{"episode_id":"ep_000009","started_at":"2026-09-04T07:48:07","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[0.15757740606144244,1.7083531467352722,0.71338606911949],"aabb_xy":[[0.14434646052676112,1.6951257277132725],[0.1708083515961237,1.7215805657572714]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.2877667371776018,1.3596647339217047,0.71338606911949],"aabb_xy":[[-0.30063864067854196,1.2796647335078686],[-0.2748948336766617,1.4396647343355409]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[0.38951749276459346,-1.251000815999943,0.71338606911949],"aabb_xy":[[0.3791059340841097,-1.256346549335841],[0.3999290514450771,-1.2456550826640442]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[-0.10951484851577087,-2.380385434189611,0.71338606911949],"aabb_xy":[[-0.15950796062496275,-2.4303854348638065],[-0.05952173640657897,-2.3303854335154153]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.4730871732378878,0.24777170659495074,0.71338606911949],"aabb_xy":[[-0.507678256091933,0.18277170630991965],[-0.4384960903838425,0.31277170687998174]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[0.5255322304791068,-0.5812263637442805,0.71338606911949],"aabb_xy":[[0.4930705295971792,-0.6113591958591829],[0.557993931361034,-0.5510935316293777]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.4737903416743297,-0.7840740208039505,0.71338606911949],"aabb_xy":[[-0.48463081990084456,-0.8012603020945992],[-0.46294986344781475,-0.7668877395133016]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.38422071901017985,1.7099945705661193,0.71338606911949],"aabb_xy":[[0.366642416821233,1.6924200809920142],[0.4017990211991267,1.7275690601402243]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.2077577587046025,0.5496828161896898,0.71338606911949],"aabb_xy":[[-0.2203845459917988,0.5401367424881168],[-0.1951309714174061,0.5592288898912626]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.21488381886307945,-1.908911685530581,0.71338606911949],"aabb_xy":[[-0.29488381587732737,-1.929046237203992],[-0.13488382184883144,-1.8887771338571695]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.49292789599853154,1.2043281211765073,0.71338606911949],"aabb_xy":[[-0.49826547166453616,1.1793281202473676],[-0.487590320332527,1.2293281221056471]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[0.656394689046748,0.1092299204645375,0.71338606911949],"aabb_xy":[[0.6522588327140478,0.0717299210201805],[0.6605305453794482,0.1467299199088945]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.3563411125440063,-0.42823972798330123,0.71338606911949],"aabb_xy":[[-0.4263411151805926,-0.4483445929791667],[-0.2863411099074199,-0.4081348629874357]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[-0.5702866033320043,-1.7958870861505076,0.71338606911949],"aabb_xy":[[-0.5752426235168856,-1.8183870863526297],[-0.5653305831471233,-1.7733870859483865]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.5357709648121769,-1.6863472187634096,0.71338606911949],"aabb_xy":[[0.4717709684166038,-1.7503105071821432],[0.59977096120775,-1.622383930344676]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.3352573599733404,-0.8131979973764978,0.71338606911949],"aabb_xy":[[0.30526569723947006,-0.8431979967132983],[0.3652490227072107,-0.7831979980396973]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.264155413850095,1.0714741223927011,0.71338606911949],"aabb_xy":[[0.253587934191996,1.0609290922796926],[0.274722893508194,1.0820191525057097]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[0.4474264877010956,1.4603537162952374,0.71338606911949],"aabb_xy":[[0.4413318598129773,1.451784321743569],[0.45352111558921393,1.4689231108469065]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[-0.567660483194665,0.014754615161434614,0.71338606911949],"aabb_xy":[[-0.6276604837906812,-0.040057857383788864],[-0.5076604825986488,0.06956708770665809]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.274054139559045,0.46025047892260984,0.71338606911949],"aabb_xy":[[0.23655413961527866,0.4519573888877733],[0.31155413950281147,0.4685435689574465]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.13007907481361958,-0.9762978149272721,0.71338606911949],"aabb_xy":[[0.09257907329798787,-0.987524587943417],[0.1675790763292513,-0.9650710419111269]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.5550992416426448,-0.10230939286163698,0.71338606911949],"aabb_xy":[[0.46541216533452934,-0.19230939311608752],[0.6447863179507602,-0.012309392607186442]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[0.5423428279381037,0.6268026553663679,0.71338606911949],"aabb_xy":[[0.5246671973495053,0.6091224390869651],[0.560018458526702,0.6444828716457706]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.11604609635819019,1.067221188596751,0.71338606911949],"aabb_xy":[[-0.12012425426523991,1.0631402083484878],[-0.11196793845114043,1.0713021688450144]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6577375613539151,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1206.png","name":"1206"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1206.png","name":"1206"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1486.png","name":"1486"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4255.png","name":"4255"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2804.png","name":"2804"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3568.png","name":"3568"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":576.8087634507801,"rotation_z_degrees":67.91050037681934,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019727869336447348,-0.009047180227356245,-0.018191155271800027]},{"name":"camera_2","offset_m":[0.004772735271968795,0.00832807886165757,0.015026213333712037]},{"name":"camera_3","offset_m":[-0.0009037350456260057,0.017348370158022142,-0.01696204909050695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013490479638782623,-0.000821942608649135,0.0002670645591985425],"end_effector_yaw_offset_degrees":-0.3624974165776056},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012618867243541602,0.0014167858852587715,-0.00012448450575505243],"end_effector_yaw_offset_degrees":0.3602487735900526},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013093476777939392,0.001064415327733549,0.0007188754783369875],"end_effector_yaw_offset_degrees":-0.578025224204092}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002558608219548687,0.00259057982371944],"position_m":[0.21985860821954867,-0.01770942017628056,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00023456004285077325,-0.0007520861850987262],"position_m":[0.21396543995714923,-0.3797520861850987,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035526435203529273,0.004668457798726895],"position_m":[0.20664735647964708,0.30026845779872685,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019864186280047188,0.0035753329971015295],"position_m":[0.3537864186280047,0.13547533299710152,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e5f1c89626dc4950e97534d5d3d05f9c0564a5703e35091f8e387f3b8b3b5859","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1206/tex_ceiling_textures_3568/tex_floor_textures_2804/tex_table_textures_1486/tex_wall_textures_4255","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2435010258873531647,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2435010258873531647,"visual_seed":2435010258873531647,"scene_id":"lab_003","finished_at":"2026-09-04T07:51:19"}
+{"episode_id":"ep_000010","started_at":"2026-09-04T07:51:22","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[0.41876164382813696,-0.31741404043726584,0.71338606911949],"aabb_xy":[[0.4111373757379587,-0.3250472639738096],[0.4263859119183152,-0.3097808169007222]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[-0.25895379547252667,1.7033997152338292,0.71338606911949],"aabb_xy":[[-0.29325070649026724,1.6691028290238872],[-0.224656884454786,1.7376966014437698]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.5248120650917025,1.4923689758451508,0.71338606911949],"aabb_xy":[[0.48731206442712377,1.4766819178449284],[0.5623120657562811,1.5080560338453728]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[-0.2821702871221767,0.1782936524632266,0.71338606911949],"aabb_xy":[[-0.29733316009911376,0.16312819516810784],[-0.2670074141452396,0.19345910975834538]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.42509403209103835,-1.4057650651284326,0.71338606911949],"aabb_xy":[[-0.44259403235037503,-1.4198566073172052],[-0.4075940318317018,-1.39167352293966]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.5654603956928541,1.4703146652584294,0.71338606911949],"aabb_xy":[[-0.6154446314010313,1.4203146664449338],[-0.5154761599846769,1.520314664071925]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.2819472332252461,-1.3089616690612393,0.71338606911949],"aabb_xy":[[-0.319447233330839,-1.3157838309142205],[-0.24444723311965313,-1.3021395072082582]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[-0.631099017269873,1.238190394124679,0.71338606911949],"aabb_xy":[[-0.6407306534903026,1.2285530813449703],[-0.6214673810494433,1.2478277069043882]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.09538020804064551,1.3328960208831817,0.71338606911949],"aabb_xy":[[0.07931828058212786,1.2478960190705897],[0.11144213549916315,1.4178960226957733]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[-0.0073854861346350775,-1.8940153394690624,0.71338606911949],"aabb_xy":[[-0.044885485951668636,-1.8986535507802043],[0.03011451368239848,-1.8893771281579206]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.08873967078190459,-0.30461483868030914,0.71338606911949],"aabb_xy":[[-0.12623967196669733,-0.3090330613763696],[-0.05123966959711177,-0.30019661598424857]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[0.5512207663349935,1.1962907285166628,0.71338606911949],"aabb_xy":[[0.48722076465699604,1.1477733370373486],[0.6152207680129907,1.244808119995977]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.5409368190795563,-1.0508321651027621,0.71338606911949],"aabb_xy":[[0.5346247195432179,-1.056599104355981],[0.5472489186158946,-1.0450652258495432]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.24225476001059237,0.5147508838628658,0.71338606911949],"aabb_xy":[[-0.30625476071406177,0.46873250138994493],[-0.17825475930712303,0.5607692663357869]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[0.2890687737755153,-1.0563629174024707,0.71338606911949],"aabb_xy":[[0.25660707289358775,-1.0864957495173728],[0.32153047465744267,-1.0262300852875677]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.5256140683093778,-2.3117190281337563,0.71338606911949],"aabb_xy":[[-0.605614065272417,-2.3887946697775297],[-0.4456140713463387,-2.234643386489983]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.36258811886306086,-0.4805062271129401,0.71338606911949],"aabb_xy":[[0.3373672820032211,-0.5057299779658269],[0.3878089557229004,-0.45528247626005336]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[-0.5536612890881143,-0.3922706317366971,0.71338606911949],"aabb_xy":[[-0.6036612900386471,-0.42381977874021853],[-0.5036612881375815,-0.3607214847331757]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.2308688135551858,-0.6874418243103069,0.71338606911949],"aabb_xy":[[-0.24520323868134924,-0.6995020398648457],[-0.21653438842902234,-0.675381608755768]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.1452984563824209,-0.651959384702659,0.71338606911949],"aabb_xy":[[-0.15334181630837604,-0.7369593857980253],[-0.1372550964564657,-0.5669593836072925]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.47702905629266595,0.6642714796557896,0.71338606911949],"aabb_xy":[[-0.49952547772653005,0.641771479849042],[-0.45453263485880185,0.6867714794625369]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[-0.10075937606772578,-1.3253940981857437,0.71338606911949],"aabb_xy":[[-0.12104367879112454,-1.3456767233284523],[-0.08047507334432702,-1.3051114730430347]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[-0.1572871780328523,-1.7274752375186502,0.71338606911949],"aabb_xy":[[-0.1872788407667226,-1.7574752368554507],[-0.12729551529898195,-1.6974752381818496]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[-0.0003296975496656085,1.4539167848714922,0.71338606911949],"aabb_xy":[[-0.031476616393248724,1.383916786184685],[0.030817221293917507,1.5239167835582994]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[0.09043758283237957,-0.8887609034953077,0.71338606911949],"aabb_xy":[[0.055437584562259654,-0.8958350311902957],[0.12543758110249947,-0.8816867758003194]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[0.4933318326759737,-0.33549648723541514,0.71338606911949],"aabb_xy":[[0.47344079279563345,-0.348152298520112],[0.5132228725563139,-0.3228406759507183]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_26","position":[-0.09798319504787856,1.3212673334484553,0.71338606911949],"aabb_xy":[[-0.10773918455705242,1.3115047993892206],[-0.08822720553870464,1.3310298675076895]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[0.64318416909991,0.16581423023592823,0.71338606911949],"aabb_xy":[[0.6280818676388917,0.15071270860486632],[0.6582864705609279,0.18091575186698997]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[-0.04854072816030708,0.4408303930238855,0.71338606911949],"aabb_xy":[[-0.07105441998376427,0.37083039242287796],[-0.026027036336849878,0.510830393624893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6584774112451715,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9532.png","name":"9532"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9532.png","name":"9532"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9983.png","name":"9983"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8103.png","name":"8103"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7332.png","name":"7332"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7472.png","name":"7472"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":730.155208746071,"rotation_z_degrees":136.79950194134696,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026745949824833262,0.01868684649248521,0.01622982824343502]},{"name":"camera_2","offset_m":[0.012921434147540826,-0.008496343222813705,-0.0007286125912486612]},{"name":"camera_3","offset_m":[0.000984213159055048,-0.017045875111139194,0.005083535142392407]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004760389703342379,0.0008593537235278689,0.0015855765522671504],"end_effector_yaw_offset_degrees":0.9873739692677475},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008080924351862558,0.0007586105541358664,-0.00027675184749027695],"end_effector_yaw_offset_degrees":0.024821575484622604},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022893952463815025,-0.0003447192082092303,0.0004294959803279072],"end_effector_yaw_offset_degrees":-0.2300994457436507}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010409677808419782,0.004555817693265455],"position_m":[0.21625903221915801,-0.015744182306734543,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018660464323117187,-0.004321072858853607],"position_m":[0.21233395356768828,-0.3833210728588536,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038205835876892434,0.004518525925675297],"position_m":[0.20637941641231075,0.3001185259256753,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025312956263571773,0.0037122618349979828],"position_m":[0.3543312956263572,0.13561226183499797,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"08eb3c0a3a6c74c01bb94a5c53fae7fc7d0e19860160c99d4a02d9c93caa7b23","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9532/tex_ceiling_textures_7472/tex_floor_textures_7332/tex_table_textures_9983/tex_wall_textures_8103","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":541610128549474981,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":541610128549474981,"visual_seed":541610128549474981,"scene_id":"lab_003","finished_at":"2026-09-04T07:54:36"}
+{"episode_id":"ep_000011","started_at":"2026-09-04T07:54:41","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.4455306672470003,-0.5142511723793945,0.71338606911949],"aabb_xy":[[-0.4598650923731637,-0.5263113879339334],[-0.4311962421208368,-0.5021909568248557]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.5317651172837449,-1.4999124923014913,0.71338606911949],"aabb_xy":[[-0.5662275952968325,-1.506576169484414],[-0.497302639270657,-1.4932488151185686]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[-0.1406051465964151,1.3515291411761665,0.71338606911949],"aabb_xy":[[-0.17519622945046032,1.2865291408911352],[-0.1060140637423699,1.4165291414611973]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.3762732379946385,1.296485514493992,0.71338606911949],"aabb_xy":[[-0.4105701490123791,1.2621886282840502],[-0.34197632697689784,1.3307824007039328]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[-0.1304221238630171,1.7618178088473981,0.71338606911949],"aabb_xy":[[-0.16792212436037532,1.7578491252992798],[-0.09292212336565883,1.7657864923955169]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[0.3885515646860358,1.6376952478537272,0.71338606911949],"aabb_xy":[[0.2985515649628616,1.6146218953185472],[0.47855156440921,1.6607686003889068]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[-0.22085706945294326,0.6286436461398166,0.71338606911949],"aabb_xy":[[-0.2708570688931389,0.5786757216555003],[-0.17085707001274764,0.6786115706241329]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[0.4496990677198167,0.48643154460856763,0.71338606911949],"aabb_xy":[[0.43081468395130645,0.4675456198282149],[0.46858345148832686,0.5053174693889204]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.30572711781169865,-0.8944281049128635,0.71338606911949],"aabb_xy":[[-0.31580882489027207,-0.974428102804978],[-0.2956454107331251,-0.8144281070207487]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.6016917676086416,1.214276854598074,0.71338606911949],"aabb_xy":[[-0.6656874650037382,1.150276856297365],[-0.537696070213545,1.2782768528987825]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[-0.6006681978111756,-1.7363023756599245,0.71338606911949],"aabb_xy":[[-0.6153116033652086,-1.7509610953167087],[-0.5860247922571427,-1.7216436560031403]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[-0.38401564602406224,1.6034449448235883,0.71338606911949],"aabb_xy":[[-0.46901564444148547,1.5185706493613034],[-0.299015647606639,1.6883192402858733]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.20783682496870198,-1.1530771411613399,0.71338606911949],"aabb_xy":[[-0.2428368263201837,-1.1734368771181607],[-0.17283682361722022,-1.132717405204519]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[0.060660252287674576,-1.3393192443033766,0.71338606911949],"aabb_xy":[[0.056025137135441175,-1.3431865793805249],[0.06529536743990794,-1.3354519092262278]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[-0.4557797332476117,-0.8737680309027385,0.71338606911949],"aabb_xy":[[-0.49702854427752635,-0.9287680304149558],[-0.4145309222176969,-0.8187680313905209]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.6172931781038055,-1.2839973859248734,0.71338606911949],"aabb_xy":[[-0.6522931764145009,-1.2917124008484189],[-0.58229317979311,-1.2762823710013276]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.36608994255419114,0.39685232250061286,0.71338606911949],"aabb_xy":[[-0.4160899421305259,0.3468717435485069],[-0.3160899429778565,0.4468329014527188]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.0023351592126088505,-1.8949751061494844,0.71338606911949],"aabb_xy":[[-0.03918570714959646,-1.9324751069725181],[0.03451538872437876,-1.8574751053264507]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.5892571570370089,-0.06618975940153327,0.71338606911949],"aabb_xy":[[0.54425715557078,-0.11118961626301396],[0.6342571585032377,-0.0211899025400526]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.43203126796018987,-0.7331079737917352,0.71338606911949],"aabb_xy":[[0.37203126770878864,-0.7873892988281999],[0.492031268211591,-0.6788266487552705]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.0999308241609681,0.4023276961821982,0.71338606911949],"aabb_xy":[[-0.1799308255910953,0.32281054116958874],[-0.019930822730840903,0.4818448511948077]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[0.20458672753564322,-1.7375101878749835,0.71338606911949],"aabb_xy":[[0.17081116834495022,-1.7515486830881482],[0.23836228672633616,-1.7234716926618183]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[-0.06158212473169333,-0.3291754449211459,0.71338606911949],"aabb_xy":[[-0.09908212591648612,-0.3335936676172063],[-0.024082123546900532,-0.3247572222250853]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[0.3871991475884844,0.2875054143409712,0.71338606911949],"aabb_xy":[[0.357207484854614,0.2575054150041707],[0.41719081032235467,0.31750541367777174]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[0.10506664082706385,1.1013989590157216,0.71338606911949],"aabb_xy":[[0.04106664153289563,1.0374128186468674],[0.16906664012123207,1.1653850993845758]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[0.2739140288754416,0.6283730322652206,0.71338606911949],"aabb_xy":[[0.26650157333405305,0.6225218218435926],[0.28132648441683,0.6342242426868485]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[0.6137027659019909,-0.8857499559881792,0.71338606911949],"aabb_xy":[[0.563707754942539,-0.9357499550237711],[0.663697776861443,-0.8357499569525877]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6580302482746002,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7649.png","name":"7649"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7649.png","name":"7649"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7977.png","name":"7977"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9351.png","name":"9351"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4254.png","name":"4254"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9711.png","name":"9711"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":719.9697982283202,"rotation_z_degrees":289.2485751607296,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004217933686657804,0.014895078119347042,0.00281233597560274]},{"name":"camera_2","offset_m":[-0.01829114897282024,0.01017493643683176,-0.01167352706489596]},{"name":"camera_3","offset_m":[-0.012299069852824411,-0.0015245800205453928,0.009797385832459052]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001971602176630475,0.000649612659229032,0.0016403391796439024],"end_effector_yaw_offset_degrees":-0.7384053690327206},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006050871051727367,-0.0017373247105705847,0.0014269603637873918],"end_effector_yaw_offset_degrees":-0.6980555401582851},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008377688399008481,-1.9935246404438525e-05,-0.0009641284272490687],"end_effector_yaw_offset_degrees":0.31992791872165105}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0032267778359522476,-0.0043671417245102345],"position_m":[0.22052677783595223,-0.024667141724510233,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022620964195031457,0.0022918757044259478],"position_m":[0.21646209641950315,-0.37670812429557404,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017933787216887322,0.001400098379220901],"position_m":[0.20840662127831128,0.29700009837922087,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005675121766699634,-0.002384341207617414],"position_m":[0.35123248782333005,0.12951565879238258,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4f501f6b2799ed1a11704fc9e73a2889087ff917880e7e18df2d0882279ac9c6","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7649/tex_ceiling_textures_9711/tex_floor_textures_4254/tex_table_textures_7977/tex_wall_textures_9351","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5209463676790749576,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5209463676790749576,"visual_seed":5209463676790749576,"scene_id":"lab_003","finished_at":"2026-09-04T07:57:28"}
+{"episode_id":"ep_000012","started_at":"2026-09-04T07:57:31","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.43844006647502926,-0.7679418370706332,0.71338606911949],"aabb_xy":[[-0.4560183686639761,-0.7855163266447381],[-0.4208617642860824,-0.7503673474965283]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[0.013451057078359918,-1.1457023654316105,0.71338606911949],"aabb_xy":[[-0.0481397021456329,-1.2097023635406576],[0.07504181630235274,-1.0817023673225639]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[0.2102206308684611,-1.2590061970661992,0.71338606911949],"aabb_xy":[[0.13022063390542196,-1.3360818387099727],[0.29022062783150027,-1.1819305554224258]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.6577828664096521,-0.13548304781082932,0.71338606911949],"aabb_xy":[[0.6352828661661367,-0.14768768247060127],[0.6802828666531675,-0.12327841315105736]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[0.013038392807351529,-2.324769491578103,0.71338606911949],"aabb_xy":[[-0.002133776474281814,-2.3399383485063066],[0.02821056208898487,-2.3096006346498994]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[0.6101816299750429,0.7046757098532286,0.71338606911949],"aabb_xy":[[0.6005499937546133,0.6950383970735197],[0.6198132661954725,0.7143130226329375]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[0.2192024206775819,1.7751219521316979,0.71338606911949],"aabb_xy":[[0.18270660005030315,1.73863800970494],[0.25569824130486063,1.8116058945584552]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[-0.6164408232388535,-2.5680577286399706,0.71338606911949],"aabb_xy":[[-0.6234822741896011,-2.575084480377765],[-0.6093993722881059,-2.561030976902176]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[0.6166540509103728,-0.47277761826185305,0.71338606911949],"aabb_xy":[[0.5791540505621451,-0.48456901384293655],[0.6541540512586006,-0.46098622268076944]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.15510850305904633,-2.4760638313343137,0.71338606911949],"aabb_xy":[[-0.20499119993674259,-2.5260638305805885],[-0.10522580618135016,-2.426063832088039]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[-0.21019460516191385,-0.5638183486595567,0.71338606911949],"aabb_xy":[[-0.21628923305003217,-0.5723877432112254],[-0.20409997727379553,-0.555248954107888]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.5770149423152946,1.8100187012052333,0.71338606911949],"aabb_xy":[[0.552014942763556,1.7998762173400986],[0.602014941867033,1.820161185070368]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[-0.6131781570398994,-1.7052188739322742,0.71338606911949],"aabb_xy":[[-0.618515732705904,-1.7302188748614142],[-0.6078405813738949,-1.6802188730031347]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_13","position":[0.3564586731830661,1.198050835786289,0.71338606911949],"aabb_xy":[[0.2664586734598919,1.1749774832511088],[0.44645867290624025,1.2211241883214685]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.32658523919497967,-2.41916012355309,0.71338606911949],"aabb_xy":[[-0.3760656604089385,-2.483160121465942],[-0.27710481798102093,-2.3551601256402384]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.5179368734312932,-1.4151671344570673,0.71338606911949],"aabb_xy":[[-0.5650662524331289,-1.479167135501469],[-0.4708074944294576,-1.3511671334126651]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[0.2076661679612819,1.3778569204579711,0.71338606911949],"aabb_xy":[[0.12766617055768847,1.297864349259788],[0.2876661653648753,1.4578494916561537]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[-0.6303169826308147,-0.3509356424803305,0.71338606911949],"aabb_xy":[[-0.6429437699180109,-0.3604817161819034],[-0.6176901953436182,-0.3413895687787576]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.2157326700547474,0.5592832441372493,0.71338606911949],"aabb_xy":[[0.20976613111401157,0.5533220994778852],[0.22169920899548315,0.5652443887966133]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.3428180418038927,-2.0736705910768354,0.71338606911949],"aabb_xy":[[-0.4068180381994657,-2.137633879495569],[-0.27881804540831956,-2.009707302658102]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.3059253438475784,-0.5671500218364058,0.71338606911949],"aabb_xy":[[0.25811917623380976,-0.6321500245434648],[0.35373151146134707,-0.5021500191293469]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[-0.30404334815507467,1.59594631285433,0.71338606911949],"aabb_xy":[[-0.33401090506490033,1.5659463125564443],[-0.274075791245249,1.6259463131522158]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[-0.3840125761349742,1.2088179963496888,0.71338606911949],"aabb_xy":[[-0.43401257749586136,1.1588400917742732],[-0.3340125747740869,1.2587959009251044]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[0.09854130892044233,-1.7364345739968776,0.71338606911949],"aabb_xy":[[0.06104130825586362,-1.7521216319970998],[0.136041309585021,-1.7207475159966554]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.30064169223101256,0.9002135565067397,0.71338606911949],"aabb_xy":[[-0.3242268156949074,0.8352135542613078],[-0.2770565687671177,0.9652135587521714]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[-0.34866778922171565,-1.8698244878728794,0.71338606911949],"aabb_xy":[[-0.39866778866191127,-1.9197924123571952],[-0.29866778978152003,-1.8198565633885626]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[-0.37793497330235254,0.7217358116692196,0.71338606911949],"aabb_xy":[[-0.46793496980322424,0.6758241692507612],[-0.2879349768014807,0.7676474540876776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6531788068900213,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4863.png","name":"4863"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4863.png","name":"4863"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8690.png","name":"8690"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4295.png","name":"4295"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6142.png","name":"6142"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3038.png","name":"3038"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":766.0496082028494,"rotation_z_degrees":304.8887050880554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008182329314974566,-0.01598120054751656,-0.006090499649674954]},{"name":"camera_2","offset_m":[0.005066657822802276,-0.010827106261690825,0.016061814496733735]},{"name":"camera_3","offset_m":[0.006844251299925181,0.007655547294869201,0.01006842400719989]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013740429533650742,-0.001473190816256944,0.0017649497266526326],"end_effector_yaw_offset_degrees":-0.5764400708601922},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013624049077117038,0.0016168670904516324,-0.0019897829260628955],"end_effector_yaw_offset_degrees":-0.2935779952421387},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016257263984066502,-0.00030083336406755814,-0.0017979286552305736],"end_effector_yaw_offset_degrees":-0.8030949587844121}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012393903054012789,-0.00361393146393055],"position_m":[0.21853939030540126,-0.02391393146393055,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004871312757970725,0.0005899415397128734],"position_m":[0.20932868724202927,-0.37841005846028714,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002680145712901638,0.0008625250647176733],"position_m":[0.21288014571290165,0.29646252506471765,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024149505391552794,0.00361071321105597],"position_m":[0.3493850494608447,0.13551071321105596,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cef756015f1d35394b7b3c4a3d8e7928fbf5b2cb909bf8d38f7c71f139788bb8","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4863/tex_ceiling_textures_3038/tex_floor_textures_6142/tex_table_textures_8690/tex_wall_textures_4295","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":653541990978975427,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":653541990978975427,"visual_seed":653541990978975427,"scene_id":"lab_003","finished_at":"2026-09-04T08:00:29"}
+{"episode_id":"ep_000013","started_at":"2026-09-04T08:00:32","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.5617024802077697,-1.0416799443815161,0.71338606911949],"aabb_xy":[[-0.5676690191485054,-1.0476410890408798],[-0.555735941267034,-1.035718799722152]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.5180964147550137,0.31968161095769654,0.71338606911949],"aabb_xy":[[-0.5222322710877139,0.28218161151333954],[-0.5139605584223135,0.35718161040205354]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[-0.1969975848064165,-0.6845827059431921,0.71338606911949],"aabb_xy":[[-0.24709504878749014,-0.7485827064530041],[-0.1469001208253429,-0.6205827054333805]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.6076175203406988,-1.2848456808277153,0.71338606911949],"aabb_xy":[[-0.657617521701586,-1.334823585403131],[-0.5576175189798116,-1.2348677762522997]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.4039001326466607,-1.5019448679615977,0.71338606911949],"aabb_xy":[[-0.41945590205692607,-1.5174953012060053],[-0.38834436323639554,-1.4863944347171907]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.6669090265661837,-1.607003693279944,0.71338606911949],"aabb_xy":[[0.6319090282554881,-1.61471870820349],[0.701909024876879,-1.5992886783563987]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[0.017686537021474047,-0.9087808151150147,0.71338606911949],"aabb_xy":[[-0.027306049696976364,-0.9537808143894634],[0.06267912373992446,-0.8637808158405659]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[0.11287530560552794,-1.745058440134604,0.71338606911949],"aabb_xy":[[0.08929018214163309,-1.810058442380036],[0.1364604290694228,-1.6800584378891725]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[-0.10612845436288831,-2.5334402717547215,0.71338606911949],"aabb_xy":[[-0.13990401355358129,-2.5474787669678864],[-0.07235289517219534,-2.5194017765415566]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.32527846142485983,-1.2519275859252883,0.71338606911949],"aabb_xy":[[0.3139167267715737,-1.2632960523315762],[0.336640196078146,-1.240559119519]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[-0.44607532364432556,0.878014455499462,0.71338606911949],"aabb_xy":[[-0.4566428033024246,0.8674694253864533],[-0.4355078439862266,0.8885594856124704]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[0.06165370974883688,-1.5897451800802185,0.71338606911949],"aabb_xy":[[-0.002346292471570144,-1.6341182642055068],[0.1256537119692439,-1.5453720959549302]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[-0.10705318550528342,-2.046666649943922,0.71338606911949],"aabb_xy":[[-0.14136946267990136,-2.0966666499170996],[-0.07273690833066547,-1.9966666499707442]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[0.3041610617553293,-1.9541806382383524,0.71338606911949],"aabb_xy":[[0.2541610607361941,-1.9906468539761804],[0.35416106277446463,-1.9177144225005245]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[-0.015663614597176467,0.8231890391798666,0.71338606911949],"aabb_xy":[[-0.02377726927055357,0.8150832227258374],[-0.007549959923799365,0.8312948556338956]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[0.638656998744749,1.0524645236310342,0.71338606911949],"aabb_xy":[[0.6061952978628213,1.0223316915161313],[0.6711186996266763,1.0825973557459365]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[0.45837849407772047,1.110601729425433,0.71338606911949],"aabb_xy":[[0.378378491914958,1.0306465457992893],[0.538378496240483,1.1905569130515765]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[0.000644138183864329,1.0505730675254545,0.71338606911949],"aabb_xy":[[-0.03685586216436343,1.0387816719443708],[0.03814413853209209,1.0623644631065379]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[-0.343605537453239,-0.827721956400985,0.71338606911949],"aabb_xy":[[-0.3475194106486615,-0.8364709718075418],[-0.33969166425781644,-0.8189729409944282]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.5297045770936257,-0.5014787648045065,0.71338606911949],"aabb_xy":[[-0.5647045762864439,-0.512445810802169],[-0.49470457790080735,-0.49051171880684374]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.3087564387719177,1.0775531976941526,0.71338606911949],"aabb_xy":[[-0.34625643906409254,1.073511722293549],[-0.2712564384797429,1.081594673094756]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.25933163871115106,-0.8416635052332933,0.71338606911949],"aabb_xy":[[0.2522913287776141,-0.9216635046329648],[0.2663719486446881,-0.761663505833622]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[0.08270550491365503,1.6854660159490353,0.71338606911949],"aabb_xy":[[0.07007871762645868,1.6759199422474624],[0.09533229220085138,1.6950120896506082]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.5644691323036984,1.7258112686511615,0.71338606911949],"aabb_xy":[[-0.634469134435128,1.7030493030254656],[-0.4944691301722689,1.748573234276857]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[0.13293294652470455,-1.1578252811710403,0.71338606911949],"aabb_xy":[[0.05293294854391949,-1.165426822132892],[0.21293294450548958,-1.1502237402091882]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_25","position":[-0.18603272106975255,-1.3944774078946705,0.71338606911949],"aabb_xy":[[-0.24100644310608543,-1.4494774074589036],[-0.13105899903341967,-1.3394774083304373]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[0.42868515065042745,1.6075403341640517,0.71338606911949],"aabb_xy":[[0.3834065357692782,1.543540334815868],[0.4739637655315767,1.6715403335122354]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_27","position":[0.1767355670846371,1.4268168591081332,0.71338606911949],"aabb_xy":[[0.17261961697256442,1.4227013040752874],[0.18085151719670975,1.4309324141409785]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561458621140684,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/894.png","name":"894"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/894.png","name":"894"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4891.png","name":"4891"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9458.png","name":"9458"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4845.png","name":"4845"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9990.png","name":"9990"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":564.8764854746676,"rotation_z_degrees":199.0473972522445,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016354803272818987,-0.007192368627695714,-0.004725814207905396]},{"name":"camera_2","offset_m":[0.015213943654840096,0.011842127201597035,0.0098536753570992]},{"name":"camera_3","offset_m":[-0.0037823363385183877,-0.010294183162228965,0.0024725958982397614]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005936784673325987,-0.0006019454701772769,0.0007935975278476641],"end_effector_yaw_offset_degrees":0.4592890837084598},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019858903670654047,-0.001160221601273451,-0.0014151665854579883],"end_effector_yaw_offset_degrees":-0.9637745350805009},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00022927043222811631,5.287657879440638e-05,-0.0008069123125128677],"end_effector_yaw_offset_degrees":-0.9244937637555724}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011125056911233423,0.003668114974168476],"position_m":[0.21618749430887665,-0.016631885025831523,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004063246296623698,-0.003384463279876243],"position_m":[0.2101367537033763,-0.38238446327987624,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022793107490092592,0.002094073621964179],"position_m":[0.20792068925099075,0.29769407362196415,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013686792797821977,0.0009835376751229528],"position_m":[0.3531686792797822,0.13288353767512295,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e9b0da7841b7cd32fd6e0e7caf34d9bb3b1df9e959e1ee33e29b0cf7c7c32c73","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_894/tex_ceiling_textures_9990/tex_floor_textures_4845/tex_table_textures_4891/tex_wall_textures_9458","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3681592827561502799,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3681592827561502799,"visual_seed":3681592827561502799,"scene_id":"lab_003","finished_at":"2026-09-04T08:03:20"}
+{"episode_id":"ep_000014","started_at":"2026-09-04T08:03:23","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[0.015193314066151542,-1.5418131061002687,0.71338606911949],"aabb_xy":[[-0.00486509754708875,-1.5618781930094263],[0.03525172567939183,-1.521748019191111]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.5090762186137066,-0.9283745846589453,0.71338606911949],"aabb_xy":[[-0.5890762156279545,-0.9485091363323567],[-0.4290762215994586,-0.9082400329855341]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.36426491301948793,0.4227845849591523,0.71338606911949],"aabb_xy":[[0.3002649166239149,0.3588212965404187],[0.42826490941506107,0.48674787337788583]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.11258822260951495,1.038953004268997,0.71338606911949],"aabb_xy":[[0.062490758628441334,0.9749530037591854],[0.16268568659058857,1.102953004778809]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.5596413995884144,0.5701136995088012,0.71338606911949],"aabb_xy":[[0.5346414000366759,0.5599712156436664],[0.5846413991401529,0.5802561833739358]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[-0.0167059587034476,-1.7343616020945243,0.71338606911949],"aabb_xy":[[-0.02933274599064395,-1.7439076757960972],[-0.004079171416251248,-1.7248155283929514]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[-0.5780269159231701,0.5036182711394885,0.71338606911949],"aabb_xy":[[-0.6030269150888034,0.49666602543413196],[-0.5530269167575371,0.5105705168448451]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[0.1385762075967183,1.2210280725599088,0.71338606911949],"aabb_xy":[[0.07357620971507049,1.1699044088533679],[0.2035762054783661,1.2721517362664496]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.4098451325053172,-0.49907347319922923,0.71338606911949],"aabb_xy":[[0.3873487110714531,-0.5215734730059767],[0.4323415539391813,-0.4765734733924818]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.33915369820525454,-0.488928089364999,0.71338606911949],"aabb_xy":[[-0.39915369906606724,-0.5403545193714853],[-0.2791536973444416,-0.43750165935851254]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[-0.24576208953120404,0.9093061449833124,0.71338606911949],"aabb_xy":[[-0.30735284875519686,0.8453061468742655],[-0.18417133030721122,0.9733061430923593]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.6242359869275977,-1.9892815200846499,0.71338606911949],"aabb_xy":[[0.6067359877932305,-1.9991611471222372],[0.6417359860619648,-1.9794018930470616]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[-0.42134819374125504,0.48767064727456244,0.71338606911949],"aabb_xy":[[-0.48634819469838225,0.43572243534085686],[-0.3563481927841278,0.539618859208268]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.550437953086691,-0.31562555919174873,0.71338606911949],"aabb_xy":[[0.48543795452961813,-0.34537809260563135],[0.6154379516437638,-0.2858730257778661]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[0.398381870354906,-2.279010399009971,0.71338606911949],"aabb_xy":[[0.39426592024283325,-2.283125954042816],[0.4024978204669786,-2.274894843977125]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[0.4604334525482052,1.6572683863712192,0.71338606911949],"aabb_xy":[[0.445331151087187,1.6421668647401568],[0.4755357540092232,1.6723699080022807]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[0.4641861328380288,-2.1273426694387227,0.71338606911949],"aabb_xy":[[0.4214194259586086,-2.191342672860525],[0.506952839717449,-2.0633426660169203]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[-0.3425624148168561,-0.1526835983782795,0.71338606911949],"aabb_xy":[[-0.37756241616833786,-0.1730433343351003],[-0.3075624134653744,-0.13232386242145863]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.08468575057130312,1.4721940961716569,0.71338606911949],"aabb_xy":[[-0.1023185861648307,1.4545711501560337],[-0.06705291497777555,1.4898170421872796]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[0.6069527654435858,-1.4794537887721633,0.71338606911949],"aabb_xy":[[0.6014948198065657,-1.5594537920798224],[0.6124107110806059,-1.3994537854645042]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[-0.13764736062192406,1.2008608156204326,0.71338606911949],"aabb_xy":[[-0.16549239740253122,1.170076316882121],[-0.10980232384131697,1.2316453143587445]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.655044959569017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7844.png","name":"7844"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7844.png","name":"7844"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4057.png","name":"4057"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8843.png","name":"8843"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2483.png","name":"2483"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5949.png","name":"5949"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":663.5547214507444,"rotation_z_degrees":25.28715233139701,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010292449963317178,-0.007455061734399382,0.005305113189599496]},{"name":"camera_2","offset_m":[0.011678076140988012,-0.01665167768537212,-0.005950692320160171]},{"name":"camera_3","offset_m":[0.010338749541749556,0.0014183295400170964,-0.008276937610847645]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000295648638704801,0.0007788804596278796,0.0007343072765650417],"end_effector_yaw_offset_degrees":-0.6842774967779135},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014564032949129111,-0.0015691360206256358,0.0006152363753975151],"end_effector_yaw_offset_degrees":-0.7177384591763893},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001277003819793923,-0.0005087416237968285,0.0003282112071997128],"end_effector_yaw_offset_degrees":0.8817430709397911}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008413502487448887,-0.0026627212944965485],"position_m":[0.21814135024874487,-0.022962721294496547,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003711544628881641,-0.0009990033114571951],"position_m":[0.21048845537111835,-0.3799990033114572,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0002879065407633075,-6.201657102916994e-05],"position_m":[0.2104879065407633,0.2955379834289708,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003254252488619773,0.0003954622979614533],"position_m":[0.35505425248861977,0.13229546229796144,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a9eb883dfaa637abf5b30f80da5c2b92ac0b5293b7943c7dcbbabf6e6ad72ce1","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7844/tex_ceiling_textures_5949/tex_floor_textures_2483/tex_table_textures_4057/tex_wall_textures_8843","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":7909733737085787913,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":7909733737085787913,"visual_seed":7909733737085787913,"scene_id":"lab_003","finished_at":"2026-09-04T08:06:22"}
+{"episode_id":"ep_000015","started_at":"2026-09-04T08:06:25","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.33621454625654157,-2.375384278239478,0.71338606911949],"aabb_xy":[[-0.35371454539090874,-2.3852639052770654],[-0.3187145471221744,-2.36550465120189]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.07698622821905776,1.479848900671492,0.71338606911949],"aabb_xy":[[0.0650534938572297,1.4674667478636327],[0.08891896258088583,1.4922310534793515]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[-0.19523852292851385,-2.3695045415162403,0.71338606911949],"aabb_xy":[[-0.23273852359309252,-2.385191599516462],[-0.15773852226393512,-2.3538174835160177]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[0.4299348178732847,0.37095922841172335,0.71338606911949],"aabb_xy":[[0.39547247047514283,0.33646534601390055],[0.46439716527142644,0.40545311080954594]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.19189443728987765,-0.10261429229224417,0.71338606911949],"aabb_xy":[[-0.20325617194316378,-0.11398275869853225],[-0.18053270263659146,-0.09124582588595609]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[0.3111031497852199,1.311907791533026,0.71338606911949],"aabb_xy":[[0.30614712960033874,1.2894077913309043],[0.3160591699701011,1.3344077917351476]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[-0.46014277743785187,1.3971007239661497,0.71338606911949],"aabb_xy":[[-0.4946052554509397,1.390437046783227],[-0.42568029942476415,1.4037644011490724]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[0.3144475397283766,1.4637027010392099,0.71338606911949],"aabb_xy":[[0.30510053214608135,1.4493990788215658],[0.3237945473106718,1.4780063232568539]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[0.1977033328147002,-2.0594600547635986,0.71338606911949],"aabb_xy":[[0.16270333368474454,-2.0652052758392627],[0.23270333194465587,-2.0537148336879345]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[0.5409996986408006,0.8441413547867489,0.71338606911949],"aabb_xy":[[0.5185032772069365,0.8216413549800015],[0.5634961200746647,0.8666413545934963]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[0.03733076342373509,-1.6763120754469956,0.71338606911949],"aabb_xy":[[-0.017664714396924297,-1.731312076880902],[0.09232624124439448,-1.6213120740130882]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.0625671955022491,-1.478621770490577,0.71338606911949],"aabb_xy":[[0.04823277037608564,-1.4906819860451161],[0.07690162062841255,-1.4665615549360385]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.5068879763299594,-1.2973016378763411,0.71338606911949],"aabb_xy":[[-0.5243186914089658,-1.3145737525401917],[-0.48945726125095285,-1.28002952321249]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.33638131511280867,1.3458211241486424,0.71338606911949],"aabb_xy":[[-0.37388131528468055,1.313120388765735],[-0.29888131494093667,1.3785218595315494]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.0006196979942717507,-1.9538206680550836,0.71338606911949],"aabb_xy":[[-0.007374290583431642,-1.9618207481501735],[0.008613686571975143,-1.9458205879599928]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.666744309759024,0.3534041246258677,0.71338606911949],"aabb_xy":[[0.6466858981457837,0.3333390377167102],[0.6868027213722643,0.37346921153502527]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[0.3101749799982185,-1.6860131496349813,0.71338606911949],"aabb_xy":[[0.26017996903876656,-1.736013148670573],[0.3601699909576706,-1.6360131505993896]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[-0.3453794078718323,-1.0718243823901972,0.71338606911949],"aabb_xy":[[-0.39526210474952855,-1.121824381636472],[-0.2954967109941361,-1.0218243831439224]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[0.3037266677830839,-0.8555942810411448,0.71338606911949],"aabb_xy":[[0.2397266675091056,-0.9056603812384327],[0.36772666805706206,-0.8055281808438568]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[-0.06712370492042363,-1.4214519861985055,0.71338606911949],"aabb_xy":[[-0.13212370495472636,-1.4681526628788326],[-0.002123704886120903,-1.374751309518178]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.5634431477571696,1.724047905027216,0.71338606911949],"aabb_xy":[[-0.6009431478627625,1.7172257431742344],[-0.5259431476515766,1.7308700668801966]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[0.22958358167636783,-1.0966740182733035,0.71338606911949],"aabb_xy":[[0.20708358143285246,-1.1088786529330754],[0.2520835819198832,-1.0844693836135315]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.6633610078831189,-0.3948253318440096,0.71338606911949],"aabb_xy":[[0.6580234322171143,-0.41982533277314943],[0.6686985835491235,-0.36982533091486985]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[-0.11941203079407525,1.5327792682355574,0.71338606911949],"aabb_xy":[[-0.20941202729494698,1.4868676258170992],[-0.02941203429320349,1.5786909106540157]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6557059597936077,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8631.png","name":"8631"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3825.png","name":"3825"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3029.png","name":"3029"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":583.0812485658508,"rotation_z_degrees":252.32912525270658,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0062283354882605585,-0.0013005238023200139,0.017780073293338684]},{"name":"camera_2","offset_m":[-0.012134162039096777,-0.009120327776556678,0.01988924900313341]},{"name":"camera_3","offset_m":[-0.007514155717485619,0.007834522555096722,0.01196018922105856]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006167879673770421,0.0011863901016018327,0.0013109897713629013],"end_effector_yaw_offset_degrees":-0.7915337825542801},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013643989773544111,-0.000864108620676784,-0.0004851846872405345],"end_effector_yaw_offset_degrees":0.9323177926803774},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008533277343682547,-3.623179264510999e-05,-0.001563477590356944],"end_effector_yaw_offset_degrees":0.1094553926699211}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017336839562354777,-0.0029952875319130424],"position_m":[0.21903368395623546,-0.02329528753191304,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007251426277035443,0.004151189689005893],"position_m":[0.21492514262770354,-0.3748488103109941,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032177512874327447,0.0018489057254413976],"position_m":[0.21341775128743273,0.29744890572544136,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001451547955345819,-0.004067979827983967],"position_m":[0.3503484520446542,0.12783202017201603,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20fb00eb7f4079a624641171a9a8e51b92b0ed4f166bc3f4a79d7d252da3e133","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5964/tex_ceiling_textures_3029/tex_floor_textures_5964/tex_table_textures_8631/tex_wall_textures_3825","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":1373405029583506020,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":1373405029583506020,"visual_seed":1373405029583506020,"scene_id":"lab_003","finished_at":"2026-09-04T08:09:25"}
+{"episode_id":"ep_000016","started_at":"2026-09-04T08:09:28","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.45522064997444955,-0.6359801373907998,0.71338606911949],"aabb_xy":[[0.3975901810871786,-0.6959801363175102],[0.5128511188617203,-0.575980138464089]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[0.5824629541134676,1.7186628081077715,0.71338606911949],"aabb_xy":[[0.5744266194121829,1.7106246888033547],[0.5904992888147526,1.7267009274121883]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.331962369405783,-1.4887484739681887,0.71338606911949],"aabb_xy":[[-0.42196236614139315,-1.541931937285483],[-0.24196237267017273,-1.435565010650894]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.30757507927317573,-2.569485418336423,0.71338606911949],"aabb_xy":[[0.2897815723382593,-2.5872851639322207],[0.32536858620809217,-2.5516856727406254]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[0.6647752870916652,1.0846356579186,0.71338606911949],"aabb_xy":[[0.6272752855760335,1.073408884902455],[0.7022752886072969,1.0958624309347451]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[0.46281899586686914,1.6193361049288995,0.71338606911949],"aabb_xy":[[0.4263231752395904,1.5828521625021421],[0.4993148164941479,1.6558200473556572]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.19584411261034218,-2.2275387682657644,0.71338606911949],"aabb_xy":[[0.13584411210248926,-2.2843855019516854],[0.2558441131181951,-2.1706920345798424]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[0.33795858233929255,-1.40703995574302,0.71338606911949],"aabb_xy":[[0.3154585828155851,-1.4295359031936408],[0.3604585818629999,-1.3845440082923992]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[-0.19844088534576054,-2.232403157857316,0.71338606911949],"aabb_xy":[[-0.26244088739549254,-2.2724976409466238],[-0.13444088329602852,-2.192308674768008]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.45389090669254517,-1.9624300952696805,0.71338606911949],"aabb_xy":[[0.44997703349712265,-1.9711791106762373],[0.4578047798879677,-1.9536810798631237]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.3557209624902411,-0.2736670675831885,0.71338606911949],"aabb_xy":[[0.34227443585619777,-0.2871369192362797],[0.36916748912428443,-0.26019721593009726]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[-0.16959691856583559,1.2848625909345102,0.71338606911949],"aabb_xy":[[-0.2495969165466206,1.2772610499726582],[-0.08959692058505052,1.2924641318963621]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.3644164481924729,-0.18759396841208265,0.71338606911949],"aabb_xy":[[-0.4194096595296097,-0.2425939687508763],[-0.3094232368553361,-0.13259396807328908]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.6320333563831508,-2.2599668294184125,0.71338606911949],"aabb_xy":[[0.6249919054324031,-2.266993581156207],[0.6390748073338983,-2.252940077680618]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.2503742673609501,0.4363124482772234,0.71338606911949],"aabb_xy":[[-0.2568759038689547,0.4265446262509136],[-0.24387263085294547,0.44608027030353314]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[0.4448993986649934,0.2708574409360023,0.71338606911949],"aabb_xy":[[0.40989939953503773,0.26511221986033817],[0.47989939779494906,0.2766026620116664]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[0.35135739996660975,0.5875294724851714,0.71338606911949],"aabb_xy":[[0.3384854964656696,0.5075294720713351],[0.3642293034675499,0.6675294728990074]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[-0.1027340781441114,0.5875196992993836,0.71338606911949],"aabb_xy":[[-0.14801269302526066,0.5235196999512],[-0.057455463262962136,0.6515196986475673]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[-0.009175793867143955,-1.8647744752130322,0.71338606911949],"aabb_xy":[[-0.06417579206888878,-1.9052964418394698],[0.045824204334600875,-1.8242525085865946]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[0.35571861842452845,1.262279484764917,0.71338606911949],"aabb_xy":[[0.30562115444345483,1.198279484255105],[0.4058160824056021,1.3262794852747286]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[-0.4862390140719384,-0.511029403723045,0.71338606911949],"aabb_xy":[[-0.5512390126290112,-0.5407819371369277],[-0.4212390155148656,-0.48127687030916244]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[-0.5299433960849469,-0.29965624041823125,0.71338606911949],"aabb_xy":[[-0.5354013417219669,-0.37965624372589035],[-0.5244854504479267,-0.21965623711057214]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[-0.17060919956917664,-0.975268590405719,0.71338606911949],"aabb_xy":[[-0.2506092028270196,-1.0552650981977032],[-0.09060919631133368,-0.8952720826137351]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[0.5085703466286646,-0.3836825412967517,0.71338606911949],"aabb_xy":[[0.49107041319468125,-0.40118254121698627],[0.526070280062648,-0.3661825413765172]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[-0.14662853540707166,1.7240758554382185,0.71338606911949],"aabb_xy":[[-0.22662853242131964,1.7039413037648075],[-0.06662853839282368,1.74421040711163]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[0.5216763005485145,-1.49890846728719,0.71338606911949],"aabb_xy":[[0.45768060315341785,-1.5629084655878986],[0.585671997943611,-1.4349084689864813]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[-0.21090067114949773,0.9136040596615618,0.71338606911949],"aabb_xy":[[-0.27490067185296707,0.8675856771886409],[-0.1469006704460284,0.9596224421344829]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_27","position":[-0.4492887706987657,0.8684411224356903,0.71338606911949],"aabb_xy":[[-0.4942813574172161,0.8234411231612415],[-0.4042961839803153,0.913441121710139]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6604570622257323,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3601.png","name":"3601"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3601.png","name":"3601"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6897.png","name":"6897"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2807.png","name":"2807"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2611.png","name":"2611"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/231.png","name":"231"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":822.6718151070206,"rotation_z_degrees":335.8456587191812,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0060370145071023725,0.01262626016800419,0.010161482571897328]},{"name":"camera_2","offset_m":[0.007109433231197199,-6.737613654480765e-05,0.012144755015583594]},{"name":"camera_3","offset_m":[0.0005516068450378865,0.006097323075199185,0.018871938282001687]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008970282948399591,-0.0005868344799222931,-0.0007246165426447635],"end_effector_yaw_offset_degrees":-0.7798871483537984},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001300889033978704,-0.0014815065710807747,-0.0003844487030540758],"end_effector_yaw_offset_degrees":0.9378439125751563},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014817778691964016,0.0018840513505564349,0.0007573541530178193],"end_effector_yaw_offset_degrees":-0.9020494942264328}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002001386672257418,-0.0035848381451591936],"position_m":[0.21529861332774258,-0.023884838145159192,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00034670578212780447,-0.0046297246795194355],"position_m":[0.2145467057821278,-0.38362972467951945,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0037426507369834354,-0.002809699743868517],"position_m":[0.21394265073698343,0.29279030025613145,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038796742331405907,0.0032999386746538047],"position_m":[0.3556796742331406,0.1351999386746538,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fa04fc0ea2217df01753e6b606ba5f803659dee01267280246f61b011692e64d","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0016.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3601/tex_ceiling_textures_231/tex_floor_textures_2611/tex_table_textures_6897/tex_wall_textures_2807","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3851680311141469491,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3851680311141469491,"visual_seed":3851680311141469491,"scene_id":"lab_003","finished_at":"2026-09-04T08:12:25"}
+{"episode_id":"ep_000017","started_at":"2026-09-04T08:12:28","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.15980003500091378,0.9793408268319319,0.71338606911949],"aabb_xy":[[0.12330421437363503,0.9428568844051741],[0.19629585562819252,1.0158247692586893]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.5385648031665706,-1.9466121761575996,0.71338606911949],"aabb_xy":[[-0.5807492173274015,-2.010612176434811],[-0.49638038900574,-1.8826121758803884]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.4229118973758612,-0.40239926927602543,0.71338606911949],"aabb_xy":[[0.3854118958602295,-0.4136260422921704],[0.4604118988914929,-0.3911724962598803]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.16415049930708037,-1.890160208439067,0.71338606911949],"aabb_xy":[[-0.1991504984998986,-1.9011272544367293],[-0.12915050011426207,-1.8791931624414038]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.7151555291428604,1.6234622037110626,0.71338606911949],"aabb_xy":[[0.7063743019956242,1.6146824564225328],[0.7239367562900968,1.6322419509995933]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.37467888438217356,-0.2817500879475374,0.71338606911949],"aabb_xy":[[0.3521788841386582,-0.29395472260730937],[0.397178884625689,-0.26954545328776547]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.07364817522464284,0.2475248867612021,0.71338606911949],"aabb_xy":[[-0.13764817744504987,0.20315180263591376],[-0.009648173004235816,0.29189797088649033]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.34577048759550344,0.7902550850183765,0.71338606911949],"aabb_xy":[[0.3205496507356637,0.7650313341654895],[0.37099132445534305,0.815478835871263]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.031625959338968834,-0.9574930024961728,0.71338606911949],"aabb_xy":[[-0.08662143715962822,-1.0124930039300795],[0.02336951848169056,-0.9024930010622657]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.4217202932744577,-2.3173236529420547,0.71338606911949],"aabb_xy":[[0.36012953405046494,-2.381323651051102],[0.4833110524984506,-2.2533236548330082]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.41671602701778365,-1.1866938773472753,0.71338606911949],"aabb_xy":[[0.40614854735968464,-1.1972389074602838],[0.42728350667588266,-1.1761488472342667]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.4490086069742407,1.3242109590579232,0.71338606911949],"aabb_xy":[[0.4240086074225023,1.3140684751927885],[0.47400860652597926,1.334353442923058]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.48388843531245973,1.6802979295630673,0.71338606911949],"aabb_xy":[[-0.48831906466729996,1.674849557828385],[-0.4794578059576196,1.68574630129775]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.26861434408992046,-1.5569458923902089,0.71338606911949],"aabb_xy":[[-0.3185874096224359,-1.606945892202742],[-0.218641278557405,-1.5069458925776762]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.17103012033025133,-1.2426721954311464,0.71338606911949],"aabb_xy":[[-0.20102178306412163,-1.272672194767947],[-0.14103845759638098,-1.2126721960943458]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.2605709970457297,-0.9142223022185194,0.71338606911949],"aabb_xy":[[0.23807457561186568,-0.9367223020252667],[0.2830674184795939,-0.8917223024117719]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.1957726606994965,-1.7669425494993956,0.71338606911949],"aabb_xy":[[0.1357726598386837,-1.8183689795058817],[0.2557726615603093,-1.715516119492909]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[-0.5704401747514627,0.3205481880225278,0.71338606911949],"aabb_xy":[[-0.578434163329166,0.3125481079274375],[-0.5624461861737592,0.32854826811761817]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[0.47404168314954886,-1.5699283561617943,0.71338606911949],"aabb_xy":[[0.4675400466415443,-1.5796961781881045],[0.48054331965755354,-1.560160534135485]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[-0.06598768067589733,1.3189266390858716,0.71338606911949],"aabb_xy":[[-0.0815434500861626,1.3033762058414646],[-0.05043191126563207,1.334477072330279]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[-0.2297340916464603,0.5645779447687866,0.71338606911949],"aabb_xy":[[-0.2583834240068765,0.5359323854917106],[-0.20108475928604405,0.5932235040458622]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.14081278281656284,1.7478133737601955,0.71338606911949],"aabb_xy":[[-0.20480848021165943,1.6838133754594866],[-0.07681708542146626,1.811813372060904]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[-0.5338571523968296,-1.4885065420663208,0.71338606911949],"aabb_xy":[[-0.5601459767172702,-1.5147779757209716],[-0.5075683280763889,-1.4622351084116691]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_23","position":[0.6692540836989826,0.06203470937221178,0.71338606911949],"aabb_xy":[[0.659622447478553,0.05239739659250286],[0.6788857199194123,0.0716720221519207]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[0.17178437513837075,-1.904671493320837,0.71338606911949],"aabb_xy":[[0.13428437503277776,-1.9114936551738182],[0.20928437524396368,-1.897849331467856]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[0.2948754796972958,-2.103758042766085,0.71338606911949],"aabb_xy":[[0.2887808518091775,-2.1123274373177536],[0.30097010758541415,-2.095188648214416]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[0.12906107097162023,-0.9772343261104599,0.71338606911949],"aabb_xy":[[0.07906106968778025,-1.0272131805010818],[0.17906107225546017,-0.9272554717198378]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[-0.3413313664333826,-0.1421176239239288,0.71338606911949],"aabb_xy":[[-0.4063313649904554,-0.17187015733781139],[-0.27633136787630974,-0.11236509051004615]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_28","position":[-0.34298855167279824,1.1503455227757118,0.71338606911949],"aabb_xy":[[-0.3484464973098183,1.0703455194680527],[-0.33753060603577817,1.2303455260833709]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_29","position":[0.29942705192265573,-0.697398409826282,0.71338606911949],"aabb_xy":[[0.2805426681541455,-0.7162843346066349],[0.31831143569116593,-0.6785124850459293]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_30","position":[0.3396951297632187,1.222101974650125,0.71338606911949],"aabb_xy":[[0.31677941687816885,1.1991976775137017],[0.36261084264826865,1.2450062717865487]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6531861548021373,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9770.png","name":"9770"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9770.png","name":"9770"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5594.png","name":"5594"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7443.png","name":"7443"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8325.png","name":"8325"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6333.png","name":"6333"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":580.5407538663668,"rotation_z_degrees":358.34056335182294,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016493425970213735,-0.006902671607994324,0.013526170543386822]},{"name":"camera_2","offset_m":[0.0032151273289487206,0.00852989875495103,-0.01305107255915294]},{"name":"camera_3","offset_m":[-0.006137572758814684,-0.017885184734835375,-0.014377055329664268]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00040572328692240877,-0.000981366187418868,0.001117951202520744],"end_effector_yaw_offset_degrees":0.8985443436461233},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008143142092093755,-0.001942810700134192,-0.0010873625210243993],"end_effector_yaw_offset_degrees":-0.2342821987299637},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015280216235671173,0.0017971585036189478,0.00020073019481915526],"end_effector_yaw_offset_degrees":0.5859064236995688}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009496190736355582,-0.00452075830354036],"position_m":[0.21824961907363555,-0.024820758303540358,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024992158309765635,0.003936777934492558],"position_m":[0.21170078416902344,-0.37506322206550746,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004377690473833935,0.0027648528283505296],"position_m":[0.21457769047383393,0.2983648528283505,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012388969607602094,-0.003364795211075422],"position_m":[0.3505611030392398,0.12853520478892458,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62c283e8e5aa9c1013e36f8c89643b03861c6a23a24ee566057e90dde3fd816f","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0017.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9770/tex_ceiling_textures_6333/tex_floor_textures_8325/tex_table_textures_5594/tex_wall_textures_7443","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":1470249268605667131,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":1470249268605667131,"visual_seed":1470249268605667131,"scene_id":"lab_003","finished_at":"2026-09-04T08:15:14"}
+{"episode_id":"ep_000018","started_at":"2026-09-04T08:15:19","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.5244192686232112,-1.632420728783707,0.71338606911949],"aabb_xy":[[0.46942605728607456,-1.6874207291225007],[0.5794124799603481,-1.5774207284449135]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.7002906887485421,1.1603293836765092,0.71338606911949],"aabb_xy":[[0.6878233306388064,1.147864059043186],[0.7127580468582777,1.172794708309833]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.43064724137577837,-1.8102152602271726,0.71338606911949],"aabb_xy":[[-0.5106472383900263,-1.8303498119005837],[-0.3506472443615304,-1.7900807085537611]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[0.15733426447185983,0.9349819866564553,0.71338606911949],"aabb_xy":[[0.14853220916288712,0.927170660501526],[0.16613631978083254,0.9427933128113841]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[-0.31706251712689215,0.3154849205250785,0.71338606911949],"aabb_xy":[[-0.38106251738736296,0.2704761211721505],[-0.25306251686642134,0.3604937198780065]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.2920908168455342,0.7270691468211719,0.71338606911949],"aabb_xy":[[0.2695908173218267,0.7045731993705509],[0.3145908163692415,0.7495650942717924]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.19600347455734368,0.1490825343000588,0.71338606911949],"aabb_xy":[[-0.2069092506449064,0.06908253790122965],[-0.18509769846978097,0.22908253069888795]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[-0.011499059643172327,-2.2178757750979017,0.71338606911949],"aabb_xy":[[-0.10149906197719138,-2.2953581296830143],[0.07850094269084673,-2.140393420512789]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.2586868516199587,-0.4652857609855414,0.71338606911949],"aabb_xy":[[-0.32268685329795604,-0.5138031524648556],[-0.19468684994196134,-0.4167683695062272]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[-0.4993730698142622,-1.261600830996857,0.71338606911949],"aabb_xy":[[-0.5119998571014586,-1.2711469046984296],[-0.4867462825270658,-1.2520547572952838]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.6411413068380267,0.9096364198026441,0.71338606911949],"aabb_xy":[[0.5911570711298494,0.8596364209891484],[0.6911255425462038,0.9596364186161396]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[-0.32537022124139636,1.2558980259709722,0.71338606911949],"aabb_xy":[[-0.3478702212515446,1.241801806331369],[-0.302870221231248,1.2699942456105755]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.5074642389283197,0.3999875587533639,0.71338606911949],"aabb_xy":[[-0.5155005736296046,0.3919494394489471],[-0.49942790422703487,0.40802567805778067]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.09230349552134065,-0.9775460645010263,0.71338606911949],"aabb_xy":[[0.07641900225601549,-0.9918990047998505],[0.10818798878666579,-0.9631931242022024]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[-0.02180007999312006,0.7198768667822995,0.71338606911949],"aabb_xy":[[-0.0858000772787687,0.6783701478294555],[0.04219991729252859,0.7613835857351434]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.5319880392189127,1.3303501338427037,0.71338606911949],"aabb_xy":[[0.5069880392863948,1.3234674656217804],[0.5569880391514306,1.337232802063627]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[0.6832855345445334,1.6155513653514197,0.71338606911949],"aabb_xy":[[0.6751718798711562,1.6074455488973907],[0.6913991892179104,1.6236571818054488]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.3767716422807037,-2.321706295695036,0.71338606911949],"aabb_xy":[[-0.4417716408377765,-2.3514588291089185],[-0.3117716437236308,-2.291953762281153]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[-0.5011178164462315,-0.2828195198398342,0.71338606911949],"aabb_xy":[[-0.5511178160225663,-0.3328000987919402],[-0.4511178168698968,-0.23283894088772833]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[0.3555891118400154,-1.8867746207003093,0.71338606911949],"aabb_xy":[[0.27058911314794076,-1.9187604840951884],[0.44058911053209004,-1.8547887573054307]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[0.5879781681131355,-2.4179065813768132,0.71338606911949],"aabb_xy":[[0.5339625718312355,-2.4819065842690704],[0.6419937643950355,-2.353906578484556]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[0.6902408178953559,-1.0592252993810132,0.71338606911949],"aabb_xy":[[0.6783080835335277,-1.0716074521888725],[0.7021735522571838,-1.0468431465731538]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.44462787485924005,-1.4550904362785626,0.71338606911949],"aabb_xy":[[-0.4622061770481869,-1.4726649258526674],[-0.4270495726702932,-1.4375159467044578]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[0.0815094756343091,-1.273879089014784,0.71338606911949],"aabb_xy":[[0.04721256461656847,-1.3081759752247253],[0.11580638665204972,-1.2395822028048427]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.6401513277542688,1.169627763296659,0.71338606911949],"aabb_xy":[[-0.6513963833248866,1.1583859655725637],[-0.6289062721836509,1.1808695610207542]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[-0.028662202530867043,-1.5000647558255584,0.71338606911949],"aabb_xy":[[-0.0786614776993032,-1.5500647571015056],[0.021337072637569118,-1.4500647545496113]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[-0.14206282365504974,1.5479306508627961,0.71338606911949],"aabb_xy":[[-0.18482953053446996,1.4839306474409935],[-0.09929611677562958,1.6119306542845984]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_27","position":[0.20479053099886468,1.389054993970264,0.71338606911949],"aabb_xy":[[0.15469306701779106,1.3250549934604523],[0.2548879949799383,1.453054994480076]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[0.3765545425868686,0.4576613564522929,0.71338606911949],"aabb_xy":[[0.33952043315880887,0.4232841491185833],[0.41358865201492834,0.49203856378600225]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_29","position":[-0.60396017112107,0.2351659792978631,0.71338606911949],"aabb_xy":[[-0.626424941092475,0.2126659784190026],[-0.5814954011496648,0.2576659801767236]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_30","position":[0.2504105852787535,-2.259190284889564,0.71338606911949],"aabb_xy":[[0.180410583676474,-2.2726230780912218],[0.32041058688103297,-2.2457574916879066]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_31","position":[0.06670551386832246,-0.7201032337798963,0.71338606911949],"aabb_xy":[[0.05871152529061907,-0.7281033138749866],[0.07469950244602586,-0.7121031536848059]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_32","position":[0.3721415591065256,-0.9282507767004413,0.71338606911949],"aabb_xy":[[0.3680256089944528,-0.9323663317332869],[0.37625750921859813,-0.9241352216675958]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_33","position":[0.5711288059419,-1.0437509280228385,0.71338606911949],"aabb_xy":[[0.5071288086395536,-1.0881173549906953],[0.6351288032442464,-0.9993845010549818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6578719325866986,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/449.png","name":"449"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/449.png","name":"449"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/151.png","name":"151"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1341.png","name":"1341"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7130.png","name":"7130"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3476.png","name":"3476"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":778.0568916039384,"rotation_z_degrees":52.536051236838745,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011729012632748757,-0.014595862614323808,0.005879040220935095]},{"name":"camera_2","offset_m":[-0.016077771523737017,-0.01786449217174833,0.01369831906720308]},{"name":"camera_3","offset_m":[-0.0148729442339115,-0.01815744754980534,-0.013351616390662895]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00017904284639178253,-0.001587825485931726,0.0006994234505013634],"end_effector_yaw_offset_degrees":0.9987029336999154},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005970987591513758,0.0006229045892670502,-0.00038864237457377805],"end_effector_yaw_offset_degrees":-0.9318770921204202},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007696042449037081,0.0006805381401886598,0.0016286129037122342],"end_effector_yaw_offset_degrees":0.6673538126679934}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024018569234498174,-0.002658983647577672],"position_m":[0.21970185692344982,-0.02295898364757767,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006615585698333624,0.000284862694562257],"position_m":[0.21486155856983336,-0.37871513730543777,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0002896102955554647,0.004089686395213877],"position_m":[0.21048961029555546,0.2996896863952139,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004682219224940943,-0.004921536783174472],"position_m":[0.34711778077505906,0.12697846321682552,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"daf2173766eb6784c4cd94cdf3fc10ce50f3b56a12cebfeedb95012bc0f8b67d","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_449/tex_ceiling_textures_3476/tex_floor_textures_7130/tex_table_textures_151/tex_wall_textures_1341","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5027262195869133946,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5027262195869133946,"visual_seed":5027262195869133946,"scene_id":"lab_003","finished_at":"2026-09-04T08:17:55"}
+{"episode_id":"ep_000019","started_at":"2026-09-04T08:17:58","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[0.6102272949256067,-2.3085704854830396,0.71338606911949],"aabb_xy":[[0.59272729466627,-2.3226620276718126],[0.6277272951849433,-2.2944789432942674]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.2105282688925767,-0.18651210327188616,0.71338606911949],"aabb_xy":[[-0.2287340925538244,-0.1975375038538778],[-0.19232244523132905,-0.17548670268989452]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[-0.4983560431334614,-0.4803150722674929,0.71338606911949],"aabb_xy":[[-0.5091965213599763,-0.49750135355814173],[-0.48751556490694653,-0.4631287909768441]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[-0.38828943093600143,1.7340904014288951,0.71338606911949],"aabb_xy":[[-0.39242528726870163,1.6965904019845381],[-0.38415357460330124,1.7715904008732521]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[0.1754601473320776,-2.1530636748007645,0.71338606911949],"aabb_xy":[[0.12046789669656666,-2.2080636765440778],[0.23045239796758857,-2.0980636730574522]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.5891525006611129,0.42652729612748974,0.71338606911949],"aabb_xy":[[-0.6141525002128514,0.416384812262355],[-0.5641525011093744,0.43666977999262446]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[0.2682557535557376,1.101774920964203,0.71338606911949],"aabb_xy":[[0.218260920627796,1.0517749220689594],[0.3182505864836792,1.1517749198594465]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.593127925179509,1.1052430612178274,0.71338606911949],"aabb_xy":[[0.5871613862387732,1.0992819165584633],[0.5990944641202447,1.1112042058771916]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[-0.4993736793824859,-2.225034088884707,0.71338606911949],"aabb_xy":[[-0.5543736790042317,-2.28001778167218],[-0.44437367976074005,-2.1700503960972344]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.6707208626119423,-0.00874887628991905,0.71338606911949],"aabb_xy":[[0.6209040831471075,-0.058748874774222415],[0.7205376420767771,0.041251122194384315]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[-0.08397508480603744,-0.3146933270728689,0.71338606911949],"aabb_xy":[[-0.08767834613517628,-0.3183953453815867],[-0.08027182347689854,-0.310991308764151]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[0.36138059845728865,-2.09916233060823,0.71338606911949],"aabb_xy":[[0.2813805951994457,-2.179158838400214],[0.4413806017151316,-2.019165822816246]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.18412770238849885,-1.7795504521947803,0.71338606911949],"aabb_xy":[[0.12012770599292577,-1.843513740613514],[0.24812769878407193,-1.715587163776047]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.6005986895748959,-0.38104135177699305,0.71338606911949],"aabb_xy":[[-0.6855986882669705,-0.41302721517187196],[-0.5155986908828212,-0.34905548838211425]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[0.6081210838679036,-2.375168012194705,0.71338606911949],"aabb_xy":[[0.6027885692132907,-2.380492340439941],[0.6134535985225168,-2.3698436839494694]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[-0.19866748468891643,-0.08408695217290862,0.71338606911949],"aabb_xy":[[-0.2042491563230452,-0.09658695199068412],[-0.19308581305478767,-0.07158695235513313]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.3536492184202087,-2.501947799613119,0.71338606911949],"aabb_xy":[[0.2636492216845985,-2.5551312629304133],[0.4436492151558189,-2.4487643362958242]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.3989588556536517,-1.9453708836518337,0.71338606911949],"aabb_xy":[[-0.46295885787405866,-1.9897439677771223],[-0.3349588534332446,-1.9009977995265457]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.5778598103313899,-1.708240918384075,0.71338606911949],"aabb_xy":[[0.5708195003978529,-1.7882409177837468],[0.5849001202649269,-1.628240918984404]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.4755498850922063,0.457409180641946,0.71338606911949],"aabb_xy":[[-0.5128811616174489,0.42275612584709377],[-0.4382186085669637,0.4920622354367984]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[0.21747034893975703,1.5383382032951176,0.71338606911949],"aabb_xy":[[0.18962531215914993,1.507553704556806],[0.24531538572036418,1.5691227020334293]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[-0.09461389023487043,-1.5477807122361238,0.71338606911949],"aabb_xy":[[-0.11961389016738831,-1.5546633804570473],[-0.06961389030235253,-1.5408980440152007]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[0.4134543643922619,-1.7472723251780402,0.71338606911949],"aabb_xy":[[0.3494543671066132,-1.788779044130884],[0.4774543616779105,-1.705765606225196]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[-0.3225328496729619,-1.2687375097623335,0.71338606911949],"aabb_xy":[[-0.345029271106826,-1.291237509569081],[-0.3000364282390978,-1.246237509955586]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[-0.5711302311310578,-1.201460588742643,0.71338606911949],"aabb_xy":[[-0.5914145338544564,-1.2217432138853517],[-0.5508459284076589,-1.181177963599934]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_25","position":[0.4588451118554433,0.3194093640149127,0.71338606911949],"aabb_xy":[[0.40884511049455613,0.26943145943949703],[0.5088451132163305,0.3693872685903283]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[-0.31525475741199516,1.6577433415451455,0.71338606911949],"aabb_xy":[[-0.32812666091293524,1.5777433411313093],[-0.30238285391105496,1.7377433419589816]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[0.22369628416550325,1.782474260401003,0.71338606911949],"aabb_xy":[[0.15369628152891684,1.7623693954051374],[0.29369628680208953,1.8025791253968684]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[0.6781698451698592,0.407096465714877,0.71338606911949],"aabb_xy":[[0.6614927091767636,0.3903965417409467],[0.6948469811629546,0.42379638968880723]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_29","position":[-0.6097253636845336,1.7225303810226111,0.71338606911949],"aabb_xy":[[-0.6440222747022739,1.6882334948126698],[-0.5754284526667928,1.7568272672325524]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[0.6321391564922207,1.4512573945264964,0.71338606911949],"aabb_xy":[[0.6144635259036224,1.4335771782470934],[0.6498147870808191,1.468937610805899]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556697187071955,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7164.png","name":"7164"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7164.png","name":"7164"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1317.png","name":"1317"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5881.png","name":"5881"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/81.png","name":"81"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8927.png","name":"8927"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":688.459789733871,"rotation_z_degrees":333.9865881788954,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014526418919284415,-0.01241853207712916,-0.012528130774362812]},{"name":"camera_2","offset_m":[-0.014257876682898466,0.0033858980723015623,0.005479848322763291]},{"name":"camera_3","offset_m":[-0.009724532733740628,0.017958261899862136,-0.004250336382808362]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010750916652467433,0.0013360074489900098,-0.001408824527668804],"end_effector_yaw_offset_degrees":0.9468407880863843},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017220460627305069,0.0008703198672708082,0.0018810351946262093],"end_effector_yaw_offset_degrees":-0.917720051286685},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009505807471487532,0.0010548968680308287,0.0014710623767204898],"end_effector_yaw_offset_degrees":-0.06519748537260095}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003766088079147031,0.001257253025060843],"position_m":[0.21353391192085297,-0.019042746974939156,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006117611634104325,0.004051888118242944],"position_m":[0.21481176116341044,-0.3749481118817571,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004580659337544744,-0.0015278239711337305],"position_m":[0.20561934066245524,0.29407217602886626,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0045498334937809455,-0.0007301323371137168],"position_m":[0.35634983349378097,0.13116986766288627,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"198978f0ef5c6be46d9bf55d3c8cc0e084c9ba896e917d90ddd84bc675d83b3c","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7164/tex_ceiling_textures_8927/tex_floor_textures_81/tex_table_textures_1317/tex_wall_textures_5881","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":1442783377778119482,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":1442783377778119482,"visual_seed":1442783377778119482,"scene_id":"lab_003","finished_at":"2026-09-04T08:20:20"}
+{"episode_id":"ep_000020","started_at":"2026-09-04T08:20:24","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.3848503578452382,1.5525537305782922,0.71338606911949],"aabb_xy":[[-0.4073503580887536,1.5403490959185202],[-0.3623503576017228,1.564758365238064]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[0.2742024253613251,1.5980110264647736,0.71338606911949],"aabb_xy":[[0.24371817523429495,1.5480110266832776],[0.30468667548835526,1.6480110262462695]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[0.45819030038527164,0.6505284591444109,0.71338606911949],"aabb_xy":[[0.42069030044150524,0.6422353691095742],[0.49569030032903805,0.6588215491792474]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.5654805162514749,-0.8382734573800203,0.71338606911949],"aabb_xy":[[0.5279805159593,-0.8423149327806239],[0.6029805165436496,-0.8342319819794166]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[0.5342115811599355,-0.45167448211822236,0.71338606911949],"aabb_xy":[[0.5261853105293095,-0.46042597709557503],[0.5422378517905615,-0.4429229871408698]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.56168228899687,0.9495275007784314,0.71338606911949],"aabb_xy":[[-0.6216822895928862,0.8947150282332079],[-0.5016822884008538,1.0043399733236549]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[0.44805689130650905,-0.17205750375780005,0.71338606911949],"aabb_xy":[[0.43992920311319583,-0.18097111216850773],[0.4561845794998223,-0.16314389534709242]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[-0.4387391694373215,-1.8662658890305146,0.71338606911949],"aabb_xy":[[-0.4887384446057577,-1.9162658903064618],[-0.3887398942688854,-1.8162658877545674]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.06939731487161893,-1.4809889278417947,0.71338606911949],"aabb_xy":[[0.047488632732267874,-1.5028895946618852],[0.09130599701096996,-1.4590882610217037]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.22249600595726404,-2.3215947002371005,0.71338606911949],"aabb_xy":[[0.13249600623408983,-2.34466805277228],[0.31249600568043817,-2.29852134770192]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[0.08713016640446924,1.165211891560174,0.71338606911949],"aabb_xy":[[0.0807163527612843,1.1588020713125051],[0.09354398004765418,1.1716217118078418]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[-0.12992920331332292,0.5122027418497876,0.71338606911949],"aabb_xy":[[-0.17992920433245818,0.4757365261119597],[-0.07992920229418764,0.5486689575876156]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.46514120804649495,-1.6790759448592705,0.71338606911949],"aabb_xy":[[-0.4724024556169024,-1.69186295512278],[-0.4578799604760876,-1.666288934595761]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[0.17812511234610218,0.5290851334033073,0.71338606911949],"aabb_xy":[[0.15562511233595389,0.5149889137637039],[0.20062511235625047,0.5431813530429105]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.6481876688342545,-0.7535399404625238,0.71338606911949],"aabb_xy":[[-0.6558908595083314,-0.7612493111612618],[-0.6404844781601774,-0.7458305697637858]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[0.3108490266260484,-1.3890597434903165,0.71338606911949],"aabb_xy":[[0.2468490301987265,-1.4362293673124131],[0.3748490230533703,-1.3418901196682202]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[-0.48858879994871296,-0.7411058749947361,0.71338606911949],"aabb_xy":[[-0.5525887970608186,-0.7901382447891466],[-0.42458880283660727,-0.6920735052003254]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[-0.18552221964976612,-1.5092691520005312,0.71338606911949],"aabb_xy":[[-0.226540163036137,-1.5592691526314884],[-0.14450427626339524,-1.4592691513695737]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[0.5020929067966566,-2.167713333246753,0.71338606911949],"aabb_xy":[[0.4645929062992984,-2.1716820167948714],[0.5395929072940149,-2.1637446496986343]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[-0.15902996845542428,-1.2972504869441723,0.71338606911949],"aabb_xy":[[-0.22302997050515627,-1.3373449700334803],[-0.09502996640569228,-1.2571560038548644]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.001621166922987305,1.7819079955728632,0.71338606911949],"aabb_xy":[[-0.048361783264492024,1.7319079959303025],[0.051604117110466634,1.8319079952154234]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6578432075770406,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8724.png","name":"8724"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8724.png","name":"8724"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2597.png","name":"2597"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7051.png","name":"7051"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2818.png","name":"2818"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3093.png","name":"3093"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":628.0686164365679,"rotation_z_degrees":327.01479343293624,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017576163406925725,0.017599406928673466,0.0013466751554009615]},{"name":"camera_2","offset_m":[-0.018069506323318954,-0.009136860859968388,-0.0006156947402677602]},{"name":"camera_3","offset_m":[-0.008695100013155517,0.0036168038978446997,0.000410836231663176]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017629904374888885,-0.0009413023904913146,-0.0016291546328065154],"end_effector_yaw_offset_degrees":0.016174023593816145},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000723403543468633,-0.0013761530946821469,0.001488577905746271],"end_effector_yaw_offset_degrees":0.2169992003780068},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013743945775195584,0.001959617648783536,0.0012543710387344785],"end_effector_yaw_offset_degrees":0.37414293846015534}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0021469275134233592,-0.0009488539715351652],"position_m":[0.21944692751342335,-0.021248853971535163,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00027062703544531927,-0.0002199692362433144],"position_m":[0.2144706270354453,-0.3792199692362433,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004927915804452312,0.0021806143748416343],"position_m":[0.21069279158044524,0.2977806143748416,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003833512974803382,-0.003427955929021789],"position_m":[0.3556335129748034,0.1284720440709782,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cbf98a83ffcbe5be7269775c0faa3cf5b7ced7ccf595452004514f2bc6f2bb15","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8724/tex_ceiling_textures_3093/tex_floor_textures_2818/tex_table_textures_2597/tex_wall_textures_7051","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8836067449419079025,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8836067449419079025,"visual_seed":8836067449419079025,"scene_id":"lab_003","finished_at":"2026-09-04T08:23:18"}
+{"episode_id":"ep_000021","started_at":"2026-09-04T08:23:21","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.09634203169166144,-0.6762470879966378,0.71338606911949],"aabb_xy":[[0.01634203303477544,-0.6907519469209006],[0.17634203034854745,-0.661742229072375]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.5109639849211018,1.6679939545029892,0.71338606911949],"aabb_xy":[[-0.5172760844574402,1.66222701524977],[-0.5046518853847635,1.6737608937562078]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[-0.5856412321841008,0.768783395996302,0.71338606911949],"aabb_xy":[[-0.6081060021555058,0.7462833951174415],[-0.5631764622126956,0.7912833968751625]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.058577958903930694,-1.024923199307342,0.71338606911949],"aabb_xy":[[-0.14357795732135392,-1.109797494769627],[0.02642203951349254,-0.940048903845057]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.6751221091765909,1.375443698176841,0.71338606911949],"aabb_xy":[[-0.6859737154254664,1.3645844074491902],[-0.6642705029277152,1.3863029889044922]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.03563526970683184,0.7811549251337753,0.71338606911949],"aabb_xy":[[0.02007950029656658,0.7656044918893683],[0.05119103911709712,0.7967053583781827]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.4017107094602665,0.9425639463752122,0.71338606911949],"aabb_xy":[[-0.44671071092649534,0.8975640895137318],[-0.3567107079940376,0.9875638032366931]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.31015115549362493,-1.1967053076517045,0.71338606911949],"aabb_xy":[[-0.3701511563544376,-1.2481317376581906],[-0.250151154632812,-1.1452788776452179]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[0.6209801106224382,-1.6844015985800167,0.71338606911949],"aabb_xy":[[0.5758087927742692,-1.7484015957245556],[0.6661514284706072,-1.6204016014354787]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[0.01483009699666693,-2.3165352948406945,0.71338606911949],"aabb_xy":[[-0.00644791114680532,-2.3815352971667676],[0.03610810514013918,-2.2515352925146215]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.33973151814974045,-1.749558011944457,0.71338606911949],"aabb_xy":[[0.32816253740280393,-1.774558012061389],[0.3513004988966771,-1.7245580118275257]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.6611012861174264,-2.2233797983116808,0.71338606911949],"aabb_xy":[[0.6551347471766906,-2.229340942971045],[0.6670678250581621,-2.2174186536523166]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[-0.5616661677337133,-1.417189967578306,0.71338606911949],"aabb_xy":[[-0.6116661690175531,-1.4671688219689278],[-0.5116661664498732,-1.3672111131876836]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[0.5594644891647835,0.0013709356985946997,0.71338606911949],"aabb_xy":[[0.5219644886674253,-0.0025977478495237127],[0.5969644896621418,0.005339619246713112]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[-0.1055841511519855,1.5368536086592406,0.71338606911949],"aabb_xy":[[-0.12226128714508101,1.5201536846853103],[-0.08890701515889,1.5535535326331709]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.5003933695290261,-1.2250368139725982,0.71338606911949],"aabb_xy":[[0.48033495791578595,-1.2451019008817559],[0.5204517811422665,-1.2049717270634406]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[0.02590811628147005,-2.0519964697840907,0.71338606911949],"aabb_xy":[[-0.023908663183364712,-2.101996468268394],[0.07572489574630481,-2.0019964712997873]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[-0.007940917180877194,0.5645122431554723,0.71338606911949],"aabb_xy":[[-0.015353372722265668,0.5586610327338445],[-0.0005284616394887198,0.5703634535771004]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.28440612550888245,-2.5221957683806595,0.71338606911949],"aabb_xy":[[0.276412136931179,-2.5301958484757496],[0.2924001140865858,-2.5141956882855685]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[-0.44224005672377936,-0.2622663390768927,0.71338606911949],"aabb_xy":[[-0.4667862723465301,-0.29251523562592974],[-0.41769384110102864,-0.23201744252785564]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.05303209206047599,1.6728119659767322,0.71338606911949],"aabb_xy":[[-0.07082559899539242,1.6550122203809343],[-0.03523858512555955,1.6906117115725297]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[0.1316285817491848,0.6505112354067131,0.71338606911949],"aabb_xy":[[0.094128583173564,0.637774939743155],[0.1691285803248056,0.6632475310702709]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_22","position":[0.4896938383062748,-1.9493683214594977,0.71338606911949],"aabb_xy":[[0.46719741687241056,-1.9718683212662451],[0.5121902597401388,-1.9268683216527502]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[0.13235417883927092,-0.8034764040683626,0.71338606911949],"aabb_xy":[[0.05235417836905497,-0.8117871116827111],[0.21235417930948688,-0.7951656964540144]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.6126435161995407,1.0247239582300436,0.71338606911949],"aabb_xy":[[0.5776435178888452,1.017008943306498],[0.647643514510236,1.0324389731535892]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_25","position":[-0.4402581688242464,-0.033176905067513474,0.71338606911949],"aabb_xy":[[-0.4737373360852874,-0.06665601843862048],[-0.4067790015632055,0.0003022083035935236]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[-0.30198721985539845,-0.9812045200589614,0.71338606911949],"aabb_xy":[[-0.3519872212162856,-1.0311824246343768],[-0.25198721849451117,-0.9312266154835458]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6574820803482935,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3503.png","name":"3503"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3503.png","name":"3503"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5772.png","name":"5772"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9489.png","name":"9489"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3860.png","name":"3860"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6775.png","name":"6775"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":640.3667780539254,"rotation_z_degrees":164.95963339187114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00770040838628391,-0.006103695134204626,-0.0024262699705807737]},{"name":"camera_2","offset_m":[0.0013225157006936557,5.387006053861679e-05,-0.012129714481143875]},{"name":"camera_3","offset_m":[0.0012257042554931728,-0.018639918007964277,-0.012871826422431468]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019982571926183863,0.0018419542258858008,0.0012207898328273088],"end_effector_yaw_offset_degrees":-0.7651587086942402},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003483869687213722,-0.0012004254747258053,-0.0003919863807002825],"end_effector_yaw_offset_degrees":-0.9892408142261244},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010084434889631759,-0.0012210258996674232,-0.0003981837411712217],"end_effector_yaw_offset_degrees":-0.46728122477584866}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022232785881387976,-0.0018017932767335509],"position_m":[0.2195232785881388,-0.02210179327673355,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003096535859413615,-0.004329257568922968],"position_m":[0.2111034641405864,-0.383329257568923,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002039777664900798,0.004830964696665554],"position_m":[0.2122397776649008,0.3004309646966655,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006254009181130438,-0.0036253955865181466],"position_m":[0.35242540091811303,0.12827460441348185,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6f118eaa5b5ab2417ca72071c890fd6062dbdf3946449bb6c3c8b3289549122f","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3503/tex_ceiling_textures_6775/tex_floor_textures_3860/tex_table_textures_5772/tex_wall_textures_9489","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2696941455827562357,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2696941455827562357,"visual_seed":2696941455827562357,"scene_id":"lab_003","finished_at":"2026-09-04T08:26:19"}
+{"episode_id":"ep_000022","started_at":"2026-09-04T08:26:22","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.5875076339225455,-1.3627764859287221,0.71338606911949],"aabb_xy":[[-0.5915857918295953,-1.3668574661769854],[-0.5834294760154957,-1.3586955056804588]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[-0.4058887200849761,0.18203950855353845,0.71338606911949],"aabb_xy":[[-0.4202231452111395,0.1699792929989996],[-0.3915542949588126,0.1940997241080773]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[0.6796760445123049,-1.9953740593143663,0.71338606911949],"aabb_xy":[[0.6459004853216119,-2.0094125545275308],[0.7134516037029979,-1.9813355641012012]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[-0.5374859480777396,0.15172065818485647,0.71338606911949],"aabb_xy":[[-0.5482589219991074,0.11672065996581749],[-0.5267129741563719,0.18672065640389546]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[0.4990569014302253,0.12959580047282282,0.71338606911949],"aabb_xy":[[0.4886453427497415,0.12425006713692432],[0.5094684601107089,0.13494153380872126]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.17557651542894648,1.0300163197158523,0.71338606911949],"aabb_xy":[[0.1257597359641117,0.9800163212315489],[0.2253932948937812,1.0800163182001556]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.6146088290627563,-0.04338053908153716,0.71338606911949],"aabb_xy":[[0.6096528088778751,-0.06588053928365878],[0.6195648492476374,-0.02088053887941554]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[-0.368483085563815,-0.09356961811660458,0.71338606911949],"aabb_xy":[[-0.37669763067949885,-0.10224620841424584],[-0.3602685404481309,-0.08489302781896327]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.3593905840101015,-2.0290483831609416,0.71338606911949],"aabb_xy":[[0.34189058487573426,-2.0389280101985294],[0.3768905831444686,-2.019168756123354]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.14394925839091866,-0.031297179963906796,0.71338606911949],"aabb_xy":[[-0.14837988774575883,-0.036745551698589396],[-0.13951862903607848,-0.025848808229224196]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.31586543859622496,-0.4572468118254971,0.71338606911949],"aabb_xy":[[-0.37986544000421557,-0.5090357633494217],[-0.25186543718823423,-0.4054578603015723]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.5941760150784658,0.29808669863136883,0.71338606911949],"aabb_xy":[[0.5809450695437843,0.28485927960936935],[0.6074069606131469,0.3113141176533682]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.20967367088077338,-0.619420991094283,0.71338606911949],"aabb_xy":[[-0.23217009231463748,-0.6419209909010304],[-0.18717724944690928,-0.5969209912875355]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[-0.4362001021510325,-0.7946733847421021,0.71338606911949],"aabb_xy":[[-0.48618433785920967,-0.8446733835555976],[-0.3862158664428552,-0.7446733859286064]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[-0.552575544566579,-1.7453562172272983,0.71338606911949],"aabb_xy":[[-0.5724665844469193,-1.7580120285119953],[-0.5326845046862388,-1.7327004059426017]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[0.4099008568853566,-2.2008003390981106,0.71338606911949],"aabb_xy":[[0.40339922037735204,-2.2105681611244203],[0.4164024933933613,-2.191032517071801]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[0.3769704577005577,-2.4566968390422894,0.71338606911949],"aabb_xy":[[0.3699290067498101,-2.463723590780084],[0.3840119086513053,-2.449670087304495]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[-0.49303439517350567,-0.24082161689865522,0.71338606911949],"aabb_xy":[[-0.573034392333081,-0.2523692178564722],[-0.4130343980139303,-0.22927401594083813]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.377008887590921,-0.4716720912436463,0.71338606911949],"aabb_xy":[[0.3675914130210582,-0.4810882683813653],[0.3864263621607837,-0.46225591410592726]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.28581902731924946,-1.7564478130108196,0.71338606911949],"aabb_xy":[[-0.32331902749112135,-1.7891485483937264],[-0.24831902714737747,-1.723747077627912]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.6518908686518954,-0.7043819643438018,0.71338606911949],"aabb_xy":[[0.6363350992416302,-0.719932397588209],[0.6674466380621608,-0.6888315310993947]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_21","position":[0.1570511166661216,-0.748601522063665,0.71338606911949],"aabb_xy":[[0.12273483949150366,-0.7986015220368428],[0.19136739384073953,-0.6986015220904873]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.6269224523462809,0.8634307105946766,0.71338606911949],"aabb_xy":[[-0.6644224531382763,0.8570628696364864],[-0.5894224515542854,0.8697985515528666]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[-0.3591300641016383,0.47986895859500445,0.71338606911949],"aabb_xy":[[-0.42413006510213874,0.42908259344032956],[-0.2941300631011377,0.5306553237496794]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[0.2340235053961771,0.8501673362772704,0.71338606911949],"aabb_xy":[[0.2005443381351362,0.8166882229061634],[0.26750267265721805,0.8836464496483774]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[-0.28647392386233006,0.9817337776788087,0.71338606911949],"aabb_xy":[[-0.30653233547557035,0.9616686907696511],[-0.26641551224908977,1.001798864587966]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.28090299373814626,1.3499849784088482,0.71338606911949],"aabb_xy":[[-0.30279274132708706,1.259984981119599],[-0.25901324614920546,1.4399849756980971]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6593506305592705,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2317.png","name":"2317"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2317.png","name":"2317"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7629.png","name":"7629"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3128.png","name":"3128"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8730.png","name":"8730"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2091.png","name":"2091"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":713.8599918463617,"rotation_z_degrees":58.99560512448064,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01421194561578808,0.008579502346779896,0.011739014262243021]},{"name":"camera_2","offset_m":[-0.0011277329801913857,-0.01028458275144121,0.018636706526157686]},{"name":"camera_3","offset_m":[-0.01263411911174869,-0.012255250630728944,0.006375382156504298]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019696249019045316,-0.00041962847850901845,0.0005327591743151351],"end_effector_yaw_offset_degrees":0.17138116446864404},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011581811641442426,-0.0003243191073545701,0.0005182381663352523],"end_effector_yaw_offset_degrees":-0.3349405048921805},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015726793744240885,-0.0015806259085409456,0.0013750607288214108],"end_effector_yaw_offset_degrees":0.44359455571655215}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004163151296551932,0.0027199687106110983],"position_m":[0.22146315129655192,-0.0175800312893889,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001954593403786873,-0.0029347009647948618],"position_m":[0.21439545934037868,-0.38193470096479487,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002839592314016836,-0.0033430453196354537],"position_m":[0.21303959231401684,0.2922569546803645,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002774704035527235,-0.004804678325345682],"position_m":[0.35207747040355275,0.12709532167465432,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8888da1ca94e68a44fba2eb608f94be1375961c1af49338db956ffda064ec37c","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0022.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2317/tex_ceiling_textures_2091/tex_floor_textures_8730/tex_table_textures_7629/tex_wall_textures_3128","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":6819418580006973570,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":6819418580006973570,"visual_seed":6819418580006973570,"scene_id":"lab_003","finished_at":"2026-09-04T08:29:03"}
+{"episode_id":"ep_000023","started_at":"2026-09-04T08:29:06","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[0.019897772984557194,-0.9939017657915703,0.71338606911949],"aabb_xy":[[0.0029870405482154134,-1.007373971384185],[0.03680850542089897,-0.9804295601989559]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[0.5943230923129361,-1.6042301376583472,0.71338606911949],"aabb_xy":[[0.5906198309837971,-1.6079321559670647],[0.5980263536420749,-1.6005281193496292]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.4750289228361395,-1.0651422293844994,0.71338606911949],"aabb_xy":[[-0.5390289201384859,-1.1095086563523562],[-0.4110289255337931,-1.0207758024166427]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[0.006105551378460694,1.4964015616422066,0.71338606911949],"aabb_xy":[[-0.05789445029953666,1.4478841701628924],[0.07010555305645805,1.5449189531215208]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.008844105947879877,1.7978950003659686,0.71338606911949],"aabb_xy":[[-0.014181681613884445,1.7728949994368286],[-0.0035065302818753086,1.8228950012951082]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.3886011846721391,-1.3977273537096273,0.71338606911949],"aabb_xy":[[0.37851947759356563,-1.4777273516017417],[0.3986828917507126,-1.3177273558175124]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.6846920146821163,-1.4250551107032297,0.71338606911949],"aabb_xy":[[0.6807315309123819,-1.4327229752887503],[0.6886524984518506,-1.417387246117709]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[-0.022936919802293287,-1.7053041809554044,0.71338606911949],"aabb_xy":[[-0.02685079299771581,-1.714053196361961],[-0.019023046606870764,-1.6965551655488473]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.4197317419372744,-0.28766538566837996,0.71338606911949],"aabb_xy":[[-0.46982920591834804,-0.35166538617819176],[-0.3696342779562008,-0.22366538515856815]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[0.1795082391636793,0.8976611222781266,0.71338606911949],"aabb_xy":[[0.15700823934977692,0.8931865059076458],[0.2020082389775817,0.9021357386486073]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.44254199531079896,-2.0624987822808563,0.71338606911949],"aabb_xy":[[0.427379122333862,-2.077664239575975],[0.45770486828773616,-2.0473333249857375]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.4710148766178479,0.8808331622358696,0.71338606911949],"aabb_xy":[[-0.5069283810428376,0.8449196540191148],[-0.43510137219285816,0.9167466704526241]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[0.6501053272176431,-1.9306653435143564,0.71338606911949],"aabb_xy":[[0.6413913581677085,-1.9531653441735444],[0.6588192962675775,-1.908165342855168]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.471643991363965,1.6750095872559734,0.71338606911949],"aabb_xy":[[-0.5216439926478048,1.625030732865351],[-0.421643990080125,1.7249884416465953]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.17347569551940578,-1.246650737936983,0.71338606911949],"aabb_xy":[[-0.2434756981559921,-1.2667556029328484],[-0.10347569288281941,-1.2265458729411174]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[-0.04652304144971697,-0.7166419408687212,0.71338606911949],"aabb_xy":[[-0.05788477610300313,-0.7280104072750093],[-0.035161306796430813,-0.7052734744624332]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.25526780689857725,-1.6614042243799008,0.71338606911949],"aabb_xy":[[-0.3052628178580293,-1.7114042234154927],[-0.20527279593912523,-1.6114042253443093]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[-0.5573612029369556,-2.5140326628223466,0.71338606911949],"aabb_xy":[[-0.6373611999512035,-2.5341672144957585],[-0.4773612059227076,-2.4938981111489356]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.38395223905657705,-1.1475750034710384,0.71338606911949],"aabb_xy":[[0.3664522388115276,-1.165074791310605],[0.4014522393016264,-1.1300752156314713]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.4662302240321283,-1.3823084861257224,0.71338606911949],"aabb_xy":[[-0.5312302251380716,-1.407273859193851],[-0.4012302229261851,-1.3573431130575944]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[0.28026434660659383,-2.4316463659849763,0.71338606911949],"aabb_xy":[[0.23029128107407842,-2.4816463657975096],[0.33023741213910934,-2.381646366172444]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[-0.3344805540880706,1.4769941237383235,0.71338606911949],"aabb_xy":[[-0.3984805505153925,1.4298244999162273],[-0.2704805576607487,1.5241637475604202]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.33020389426098046,0.2732468935761694,0.71338606911949],"aabb_xy":[[-0.3842194905428804,0.20924689068391222],[-0.2761882979790804,0.33724689646842654]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6591321115519566,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9600.png","name":"9600"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9600.png","name":"9600"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1033.png","name":"1033"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1793.png","name":"1793"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4828.png","name":"4828"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9267.png","name":"9267"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":650.864233605575,"rotation_z_degrees":87.67091642201343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018141571217102376,0.011478988765815702,-0.009939981741164935]},{"name":"camera_2","offset_m":[0.018041514796000028,0.0034933830362711936,0.004014452083102197]},{"name":"camera_3","offset_m":[-0.0033695272367944736,-0.005040945587409182,-0.01605722318071439]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001565769255067579,-0.0010350263224172124,0.00130209369068944],"end_effector_yaw_offset_degrees":-0.9656912546583125},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018355530096338425,-0.0016072028889762002,-0.0001887161304190998],"end_effector_yaw_offset_degrees":0.8770116615500068},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001227514008873257,0.0014456527237578986,-0.001135869766371029],"end_effector_yaw_offset_degrees":-0.7021138596637917}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037961421760655282,-0.0012594809378469085],"position_m":[0.21350385782393447,-0.021559480937846907,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030532043014518525,0.0015002541821380064],"position_m":[0.21725320430145184,-0.377499745817862,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002386487971378912,0.00010646530850436358],"position_m":[0.2125864879713789,0.29570646530850436,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011106558261160526,0.0032938509335294847],"position_m":[0.352910655826116,0.13519385093352948,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c2b9c6040484637512cbc4c2c2ff924c72807ffacebda0c0b19c8891cb2e88be","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9600/tex_ceiling_textures_9267/tex_floor_textures_4828/tex_table_textures_1033/tex_wall_textures_1793","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8593866216534379536,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8593866216534379536,"visual_seed":8593866216534379536,"scene_id":"lab_003","finished_at":"2026-09-04T08:31:51"}
+{"episode_id":"ep_000024","started_at":"2026-09-04T08:31:55","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[0.42835988885178056,-1.0619426510303116,0.71338606911949],"aabb_xy":[[0.3940436116771626,-1.1119426510034893],[0.4626761660263985,-1.0119426510571339]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.014174483996134524,1.1236596127818426,0.71338606911949],"aabb_xy":[[-0.049825513115971165,1.0746272429874322],[0.07817448110824021,1.1726919825762534]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[-0.5334822590104058,-1.0930201312512835,0.71338606911949],"aabb_xy":[[-0.5834753711195977,-1.1430201319254791],[-0.4834891469012139,-1.0430201305770879]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.16428025901879095,1.1142799828513241,0.71338606911949],"aabb_xy":[[-0.18678025883269334,1.1098053664808436],[-0.14178025920488857,1.118754599221805]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.27804040588888346,1.3948056260726065,0.71338606911949],"aabb_xy":[[0.24054040731326268,1.3820693304090483],[0.31554040446450426,1.4075419217361642]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[-0.2594913852689913,1.2700910515029449,0.71338606911949],"aabb_xy":[[-0.28195615524039636,1.2475910506240844],[-0.23702661529758612,1.2925910523818054]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.16018921096117344,-1.2355784751653716,0.71338606911949],"aabb_xy":[[0.08018920769716031,-1.249138507474285],[0.24018921422518658,-1.2220184428564582]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[0.5498403438396402,-1.1616650910391872,0.71338606911949],"aabb_xy":[[0.5142111879396805,-1.1972977577960402],[0.5854694997395999,-1.1260324242823343]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[0.17867646956845729,1.6359706727808576,0.71338606911949],"aabb_xy":[[0.1673147349151711,1.6246022063745695],[0.19003820422174342,1.6473391391871457]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.5628679110471188,0.1306806185856244,0.71338606911949],"aabb_xy":[[-0.595329611929046,0.10054778647072178],[-0.5304062101651911,0.160813450700527]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[0.49448652558922235,0.6680717441303581,0.71338606911949],"aabb_xy":[[0.43289576636522964,0.6040717460213113],[0.5560772848132153,0.7320717422394051]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[0.015410947746580916,0.7917457418289566,0.71338606911949],"aabb_xy":[[-0.030674143508150557,0.7277457445764015],[0.0614960390013124,0.8557457390815117]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.5546338222321511,-1.7477820534056758,0.71338606911949],"aabb_xy":[[-0.5850319333312946,-1.7781889554073451],[-0.5242357111330074,-1.717375151404006]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.23649574175402877,0.33832204846983105,0.71338606911949],"aabb_xy":[[-0.25538012552253897,0.31943612368947827],[-0.2176113579855186,0.35720797325018383]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.45948570705056635,-0.2308036030424354,0.71338606911949],"aabb_xy":[[-0.5294857091819958,-0.25356556866813107],[-0.38948570491913675,-0.20804163741673973]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.006426545987418653,0.9450649235890349,0.71338606911949],"aabb_xy":[[-0.05642654693795146,0.9135157765855133],[0.043573454963114155,0.9766140705925561]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[-0.5597036402213061,-2.4789845685934937,0.71338606911949],"aabb_xy":[[-0.6447036389133808,-2.5109704319883726],[-0.4747036415292315,-2.446998705198615]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.08406721655905858,1.3747592450760835,0.71338606911949],"aabb_xy":[[0.06973279143289511,1.3626990295215444],[0.09840164168522202,1.3868194606306221]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[0.06603772693987187,-1.3896733544456024,0.71338606911949],"aabb_xy":[[-0.013962275222890619,-1.469628538071746],[0.14603772910263435,-1.3097181708194587]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[0.2887138002575743,-2.09007569435543,0.71338606911949],"aabb_xy":[[0.23871379889668706,-2.140053598930846],[0.3387138016184615,-2.0400977897800145]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.4261162591027081,-2.1401721722322016,0.71338606911949],"aabb_xy":[[0.41819297886395984,-2.162672172470205],[0.4340395393414565,-2.117672171994198]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[0.27635646789068313,0.7916831603285255,0.71338606911949],"aabb_xy":[[0.24258090869999016,0.7776446651153605],[0.3101320270813761,0.8057216555416905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6628261290136223,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3622.png","name":"3622"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3622.png","name":"3622"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6218.png","name":"6218"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6403.png","name":"6403"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7200.png","name":"7200"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/288.png","name":"288"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":812.0161548413828,"rotation_z_degrees":179.81999327568045,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016900471689177236,0.00411092646779667,-0.0035895819842028664]},{"name":"camera_2","offset_m":[-0.016445896749752734,0.01219739281102922,-0.00037962959881456676]},{"name":"camera_3","offset_m":[-0.003515282367895601,-0.0012780070952885664,0.0160530339922246]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006929839773481047,0.001141083429375511,0.0011183295138535447],"end_effector_yaw_offset_degrees":0.43914227794162386},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005026272626224935,-0.0009078888079919962,0.00019394627904250998],"end_effector_yaw_offset_degrees":0.8307340045042468},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007611412613831793,-0.0009483083362116882,0.0006697064369931374],"end_effector_yaw_offset_degrees":-0.7210226608075725}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016622282013410315,0.0029761213763322076],"position_m":[0.21896222820134104,-0.017323878623667792,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003035732704529355,-0.004937722058911877],"position_m":[0.21723573270452937,-0.38393772205891186,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036955134211957676,0.004260064600864823],"position_m":[0.20650448657880424,0.2998600646008648,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001805087786893372,-0.002646635580170911],"position_m":[0.35360508778689337,0.12925336441982907,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5f6f4af2ca794407f6e36ae03cf33a88ae034b6392ea1700f3d99c3de9d83b52","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3622/tex_ceiling_textures_288/tex_floor_textures_7200/tex_table_textures_6218/tex_wall_textures_6403","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":4043974635717562256,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":4043974635717562256,"visual_seed":4043974635717562256,"scene_id":"lab_003","finished_at":"2026-09-04T08:34:38"}
+{"episode_id":"ep_000025","started_at":"2026-09-04T08:34:41","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.2430699972387264,0.40116592413423113,0.71338606911949],"aabb_xy":[[-0.3046607564627193,0.33716592602518425],[-0.18147923801473362,0.465165922243278]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.5246547097615764,-0.5633781939686942,0.71338606911949],"aabb_xy":[[-0.5392981153156094,-0.5780369136254782],[-0.5100113042075435,-0.5487194743119097]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[-0.052934086592104634,-2.3227404144354487,0.71338606911949],"aabb_xy":[[-0.10292719870129655,-2.3727404151096447],[-0.0029409744829127444,-2.2727404137612535]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.6524482725921984,-0.3130670662981587,0.71338606911949],"aabb_xy":[[-0.658029944226327,-0.3255670661159342],[-0.6468666009580696,-0.3005670664803832]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.32301144211780025,-1.8417368846082949,0.71338606911949],"aabb_xy":[[-0.37301144306833306,-1.8732860316118163],[-0.27301144116726744,-1.8101877376047735]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.5210704866792868,0.9867358044640184,0.71338606911949],"aabb_xy":[[0.5043933506861913,0.970035880490088],[0.5377476226723823,1.0034357284379487]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[0.07748671373719462,-1.035749004641084,0.71338606911949],"aabb_xy":[[0.040155437211952014,-1.070402059435936],[0.11481799026243726,-1.0010959498462315]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[0.5929326121495664,-1.5914474619669485,0.71338606911949],"aabb_xy":[[0.5279326142679186,-1.6425711256734896],[0.6579326100312142,-1.5403237982604079]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.08219992652223873,-1.890681635213077,0.71338606911949],"aabb_xy":[[0.06528919408589692,-1.9041538408056915],[0.09911065895858048,-1.8772094296204622]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[-0.3558346392169079,-2.0299652715862266,0.71338606911949],"aabb_xy":[[-0.36396232741022116,-2.0388788799969344],[-0.3477069510235947,-2.021051663175519]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[-0.4555658467774709,-0.2897342761439674,0.71338606911949],"aabb_xy":[[-0.5392880722775534,-0.37973427967866336],[-0.37184362127738846,-0.19973427260927146]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[-0.3947261637230471,1.413215950087698,0.71338606911949],"aabb_xy":[[-0.41972616299500937,1.3968705864915354],[-0.3697261644510848,1.42956131368386]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[-0.598631809052178,-1.0587103690789088,0.71338606911949],"aabb_xy":[[-0.6398806200820927,-1.113710368591126],[-0.5573829980222632,-1.0037103695666911]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[0.4792762946321021,0.37004396956878205,0.71338606911949],"aabb_xy":[[0.46177629549773497,0.36016434253119417],[0.4967762937664693,0.3799235966063698]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.5201839823563119,-1.113024176992564,0.71338606911949],"aabb_xy":[[0.5086150016093755,-1.1380241771094959],[0.5317529631032486,-1.0880241768756325]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.40880220211150736,1.2017595461643054,0.71338606911949],"aabb_xy":[[-0.46379767993216675,1.1467595447303984],[-0.353806724290848,1.2567595475982123]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.12103672094985585,-1.0231390567387322,0.71338606911949],"aabb_xy":[[-0.17103672131042189,-1.073119043948335],[-0.07103672058928977,-0.9731590695291291]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[0.6371635741893189,-0.05897656994225153,0.71338606911949],"aabb_xy":[[0.6021635742128231,-0.06844118598986815],[0.6721635741658147,-0.04951195389463492]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[0.5979492299798608,-1.8393343265120559,0.71338606911949],"aabb_xy":[[0.5339492296023272,-1.8890795933628681],[0.6619492303573944,-1.7895890596612436]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[-0.1229614066822321,0.9009558354385341,0.71338606911949],"aabb_xy":[[-0.17277818614706686,0.8509558369542306],[-0.07314462721739734,0.9509558339228373]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.11786632152483145,0.6073136582029464,0.71338606911949],"aabb_xy":[[-0.19786632011215086,0.5279980562647855],[-0.03786632293751201,0.6866292601411073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660310969972548,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2080.png","name":"2080"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2080.png","name":"2080"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4011.png","name":"4011"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8735.png","name":"8735"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7075.png","name":"7075"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8849.png","name":"8849"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":538.1117835601315,"rotation_z_degrees":245.96158147651892,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00850929737029222,0.015562525596141578,0.011459160212690198]},{"name":"camera_2","offset_m":[0.01888925271907382,0.017046939721465402,-0.011488371441893493]},{"name":"camera_3","offset_m":[-0.0047444465028003615,0.0012028537511311298,0.014973547007593669]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00046610890059804646,-0.0016387992160865985,-0.0018326128541812738],"end_effector_yaw_offset_degrees":-0.5382831744552621},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006707793272499479,-0.0007152105408611397,0.0006530822142895927],"end_effector_yaw_offset_degrees":-0.18314965268664452},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015575946654931517,0.0006185049811787903,0.00037737305076219205],"end_effector_yaw_offset_degrees":-0.0546329535541914}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005248950190667153,0.00047493093794300813],"position_m":[0.2178248950190667,-0.019825069062056992,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002261096544291228,-0.001679388966720792],"position_m":[0.21646109654429124,-0.3806793889667208,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002051931308747461,0.000280047702401834],"position_m":[0.20814806869125255,0.2958800477024018,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016597227411684172,-0.001585643111639059],"position_m":[0.35345972274116844,0.13031435688836093,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db8ab294c63af098e01b596f82a684ef25be89d1618d1ff28236e76c3b95d7e1","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2080/tex_ceiling_textures_8849/tex_floor_textures_7075/tex_table_textures_4011/tex_wall_textures_8735","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":789555353376489342,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":789555353376489342,"visual_seed":789555353376489342,"scene_id":"lab_003","finished_at":"2026-09-04T08:37:29"}
+{"episode_id":"ep_000026","started_at":"2026-09-04T08:37:32","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.4331847122358274,0.11853796182798115,0.71338606911949],"aabb_xy":[[-0.468184711365783,0.11279274075231704],[-0.39818471310587167,0.12428318290364526]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.5980547487762271,-0.7407479512442465,0.71338606911949],"aabb_xy":[[-0.6780547467570122,-0.7483494922060984],[-0.518054750795442,-0.7331464102823945]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[-0.3776749925992909,-1.5878149994810946,0.71338606911949],"aabb_xy":[[-0.39773340421253117,-1.6078800863902523],[-0.3576165809860506,-1.5677499125719374]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[0.6660971304103658,1.5250722186964194,0.71338606911949],"aabb_xy":[[0.6431814175253159,1.5021679215599961],[0.6890128432954157,1.5479765158328431]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[0.5288989585908486,0.7561384269283655,0.71338606911949],"aabb_xy":[[0.44889895812063263,0.7478277193140171],[0.6088989590610645,0.764449134542714]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.21880306858854442,-1.6004500586633723,0.71338606911949],"aabb_xy":[[-0.26010761165228036,-1.6644500582314894],[-0.1774985255248084,-1.5364500590952552]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.6600858966431871,-0.8044302176686502,0.71338606911949],"aabb_xy":[[-0.6733168421778682,-0.8176576366906496],[-0.6468549511085057,-0.7912027986466508]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.5359097382243931,-0.01748643118705351,0.71338606911949],"aabb_xy":[[-0.5771585492543078,-0.07248643069927095],[-0.49466092719447835,0.03751356832516394]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.5580302732066555,0.5858679353788467,0.71338606911949],"aabb_xy":[[0.5539143230945828,0.5817523803460011],[0.5621462233187281,0.5899834904116922]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.5861489950641264,0.6431057545849215,0.71338606911949],"aabb_xy":[[-0.6165471061632699,0.6126988525832519],[-0.5557508839649827,0.6735126565865909]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[-0.37850017289713356,1.0768645099040257,0.71338606911949],"aabb_xy":[[-0.41350017116725346,1.0697903822090375],[-0.34350017462701365,1.0839386375990139]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[-0.23510081597688715,1.4166422166681492,0.71338606911949],"aabb_xy":[[-0.29910081527105536,1.3526560762992947],[-0.17110081668271895,1.4806283570370031]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[-0.018298659820120244,-2.0539887933719836,0.71338606911949],"aabb_xy":[[-0.024800296328124864,-2.0637566153982934],[-0.011797023312115629,-2.044220971345674]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.349215611268806,1.1665079386348336,0.71338606911949],"aabb_xy":[[-0.382694778529847,1.1330288252637268],[-0.3157364440077651,1.1999870520059408]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[0.489445729101867,-1.5047964245114303,0.71338606911949],"aabb_xy":[[0.4762944831305777,-1.529796424268117],[0.5025969750731565,-1.4797964247547437]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.647272962188953,0.6136252851247588,0.71338606911949],"aabb_xy":[[0.6227593380919472,0.5893606918227223],[0.6717865862859589,0.6378898784267952]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.43381755630845364,-0.620376355616671,0.71338606911949],"aabb_xy":[[0.403849999398628,-0.6503763559145567],[0.4637851132182793,-0.5903763553187852]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.1742684727945849,-1.8247393950814366,0.71338606911949],"aabb_xy":[[-0.20541539163816802,-1.8947393937682437],[-0.1431215539510018,-1.7547393963946294]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.47261040765999507,0.9160396953127727,0.71338606911949],"aabb_xy":[[0.46727789300538203,0.9107153670675372],[0.477942922314608,0.9213640235580083]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[0.6470168491558772,-2.1147490894837886,0.71338606911949],"aabb_xy":[[0.6251271015669363,-2.2047490867730373],[0.6689065967448179,-2.024749092194539]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6594620077593288,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3679.png","name":"3679"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3679.png","name":"3679"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6817.png","name":"6817"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8142.png","name":"8142"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7283.png","name":"7283"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3809.png","name":"3809"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":576.6011495155678,"rotation_z_degrees":260.9504120272297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014840042196969671,-0.005922824102338957,-0.01214841371320273]},{"name":"camera_2","offset_m":[0.004678138599925212,0.007642700711049923,0.009047910627771737]},{"name":"camera_3","offset_m":[-0.008694403033845126,-0.0171776042087222,0.0038472189195288206]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007135012463651931,0.0009630053562829817,0.0010808584222761642],"end_effector_yaw_offset_degrees":-0.043305151606328085},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007240223143089274,-0.0005438697083849414,-0.0015359612858698705],"end_effector_yaw_offset_degrees":-0.0157126744728171},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022952669728069051,-0.001620282082919161,0.0006299150290064929],"end_effector_yaw_offset_degrees":0.5290246997450054}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002564349602032475,0.0038807944237809313],"position_m":[0.21473565039796752,-0.016419205576219068,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00432970905571647,0.0027553836947047435],"position_m":[0.21852970905571648,-0.37624461630529527,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005484800885740774,0.0029840476150609615],"position_m":[0.20965151991142592,0.2985840476150609,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0043137089191710885,0.0004922682807012328],"position_m":[0.3561137089191711,0.13239226828070122,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"180aeb93c2d809650cc4c541befd8a7fc97a6d4751c15b8c4aa2af7ae9692913","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3679/tex_ceiling_textures_3809/tex_floor_textures_7283/tex_table_textures_6817/tex_wall_textures_8142","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":956065798507961686,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":956065798507961686,"visual_seed":956065798507961686,"scene_id":"lab_003","finished_at":"2026-09-04T08:40:28"}
+{"episode_id":"ep_000027","started_at":"2026-09-04T08:40:31","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.6429304811764117,1.4282853782470748,0.71338606911949],"aabb_xy":[[-0.6929035467089273,1.378285378434542],[-0.5929574156438964,1.4782853780596077]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[-0.39249560346646023,-1.2297752044997226,0.71338606911949],"aabb_xy":[[-0.4299956046512529,-1.2341934271957828],[-0.3549956022816673,-1.2253569818036618]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[0.2761112792626762,0.7439456003091545,0.71338606911949],"aabb_xy":[[0.2386112793189098,0.7356525102743179],[0.3136112792064426,0.752238690343991]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.28576047136911187,1.0819551465739177,0.71338606911949],"aabb_xy":[[0.2728885678681717,1.0019551461600813],[0.298632374870052,1.1619551469877536]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[0.5006237852553341,0.24152767147802345,0.71338606911949],"aabb_xy":[[0.4506504912520737,0.19152767092347606],[0.5505970792585946,0.29152767203257074]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.6134259095648875,-0.2767363566632728,0.71338606911949],"aabb_xy":[[-0.6216404546805713,-0.285412946960914],[-0.6052113644492033,-0.26805976636563145]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.03667888789107343,-2.426415084633476,0.71338606911949],"aabb_xy":[[0.019178887646024042,-2.4439148724730426],[0.05417888813612281,-2.408915296793909]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.554465365693525,-2.021594134582788,0.71338606911949],"aabb_xy":[[-0.5807541900139656,-2.0478655682374383],[-0.5281765413730842,-1.995322700928136]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[-0.4993383363995727,0.20139450462645403,0.71338606911949],"aabb_xy":[[-0.5406428794633087,0.13739450505833695],[-0.4580337933358367,0.2653945041945711]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[-0.05120310560736452,1.7846317302207404,0.71338606911949],"aabb_xy":[[-0.06036298455124112,1.7781005121772033],[-0.04204322666348792,1.7911629482642775]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.5869070760472743,-0.37289495375523307,0.71338606911949],"aabb_xy":[[-0.6219070752400924,-0.38386199975289564],[-0.5519070768544558,-0.3619279077575704]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.16953850100612822,0.9717824305061966,0.71338606911949],"aabb_xy":[[-0.1870385002842151,0.9544443304398506],[-0.15203850172804134,0.9891205305725425]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[0.4787813564899186,1.2224421525481066,0.71338606911949],"aabb_xy":[[0.46617865735284214,1.2098467563232411],[0.49138405562699505,1.2350375487729721]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[0.6698243920665468,-1.948181458178099,0.71338606911949],"aabb_xy":[[0.6248243906003179,-1.9931813150395803],[0.7148243935327756,-1.903181601316619]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[-0.4777140287195074,1.298663467379923,0.71338606911949],"aabb_xy":[[-0.5198984428803382,1.234663467102712],[-0.43552961455867667,1.3626634676571343]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[-0.09511651214471395,-1.9793307955310038,0.71338606911949],"aabb_xy":[[-0.17511651430747643,-2.0592859791571474],[-0.015116509981951451,-1.89937561190486]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[0.4276084799547286,-0.9656234919952187,0.71338606911949],"aabb_xy":[[0.4157363969432275,-1.050623491688869],[0.4394805629662297,-0.8806234923015684]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.16992884463962654,-1.5609197484104123,0.71338606911949],"aabb_xy":[[0.15902306855206383,-1.6409197448092414],[0.18083462072718925,-1.480919752011583]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.49179647376565483,-1.972162450462354,0.71338606911949],"aabb_xy":[[0.48204048425648094,-1.9819249845215883],[0.5015524632748287,-1.9623999164031194]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.47326417799504616,-0.6865441196921678,0.71338606911949],"aabb_xy":[[0.4624912040736784,-0.7215441179112068],[0.48403715191641394,-0.6515441214731288]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[0.3661733588759286,1.673198128942992,0.71338606911949],"aabb_xy":[[0.3011733609942808,1.6220744652364514],[0.43117335675757645,1.7243217926495331]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[-0.3256697847029394,1.3910549932147562,0.71338606911949],"aabb_xy":[[-0.3856697852107923,1.3342082595288347],[-0.26566978419508647,1.4479017269006773]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.4833610462705592,1.6602200084986065,0.71338606911949],"aabb_xy":[[-0.4907735018119477,1.6543687980769786],[-0.47594859072917073,1.6660712189202345]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[-0.13057921987532317,1.4210839932408388,0.71338606911949],"aabb_xy":[[-0.16557921985181903,1.4116193771932222],[-0.09557921989882737,1.4305486092884554]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[0.07807073560491207,-1.494512488962372,0.71338606911949],"aabb_xy":[[0.0741102518351777,-1.5021803535478928],[0.08203121937464646,-1.4868446243768516]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[0.5079526627544506,0.04406539656495223,0.71338606911949],"aabb_xy":[[0.48578013577779977,0.021889729408829047],[0.5301251897311015,0.0662410637210754]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[0.620625131398042,1.4052840788504914,0.71338606911949],"aabb_xy":[[0.5981251313878937,1.3911878592108882],[0.6431251314081903,1.4193802984900947]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_27","position":[-0.09521025968934349,1.5497077619863728,0.71338606911949],"aabb_xy":[[-0.18521025619021525,1.5037961195679141],[-0.005210263188471744,1.5956194044048306]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_28","position":[-0.2874544701180634,-1.05149036606697,0.71338606911949],"aabb_xy":[[-0.3514544733367013,-1.0982134779659782],[-0.2234544668994256,-1.0047672541679615]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_29","position":[0.6132326673492163,-2.460117319539302,0.71338606911949],"aabb_xy":[[0.5956543651602695,-2.477691809113407],[0.6308109695381632,-2.442542829965197]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_30","position":[-0.37901241212579856,-0.2436047294828021,0.71338606911949],"aabb_xy":[[-0.41550823275307724,-0.28008867190955966],[-0.34251659149851976,-0.2071207870560445]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_31","position":[0.16381705023439685,-1.7570654093026516,0.71338606911949],"aabb_xy":[[0.09981704996041862,-1.8071315094999396],[0.22781705050837509,-1.7069993091053637]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_32","position":[0.2109244909820741,-1.1279300611465286,0.71338606911949],"aabb_xy":[[0.1409244875905121,-1.1632458348499592],[0.28092449437363604,-1.0926142874430975]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_33","position":[-0.22395126221674605,-0.4326234158792963,0.71338606911949],"aabb_xy":[[-0.28795126292021545,-0.4786417983522174],[-0.1599512615132767,-0.38660503340637536]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_34","position":[-0.0563113506625017,-1.3257963650635474,0.71338606911949],"aabb_xy":[[-0.09381135217813341,-1.3370231380796924],[-0.018811349146869993,-1.3145695920474023]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6546688005821145,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8729.png","name":"8729"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8729.png","name":"8729"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4465.png","name":"4465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2210.png","name":"2210"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7211.png","name":"7211"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2285.png","name":"2285"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":735.4419530042655,"rotation_z_degrees":327.18214653768183,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021761387541680104,-0.004069712915043926,0.008518601223890362]},{"name":"camera_2","offset_m":[-0.003724044285468426,-0.012762860376145747,-0.016112170541676456]},{"name":"camera_3","offset_m":[0.005938904839030035,0.010728105873706227,-0.008567755577101925]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011297219318462477,-2.2123126310796652e-05,0.00039598598079178477],"end_effector_yaw_offset_degrees":0.05862408567738808},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019440932645472982,-0.0013939705929523188,0.001957200132091227],"end_effector_yaw_offset_degrees":-0.21244998363626033},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000560081257156033,0.00143591190625297,-0.0016012086594697056],"end_effector_yaw_offset_degrees":-0.8791401016344655}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0040676395277589724,0.0041444078845848985],"position_m":[0.22136763952775895,-0.0161555921154151,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034896107429616885,-3.788826105432207e-05],"position_m":[0.2107103892570383,-0.37903788826105433,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002810399243253805,0.001052268484060267],"position_m":[0.2073896007567462,0.29665226848406023,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024376530337188295,0.0013818895592443694],"position_m":[0.35423765303371885,0.13328188955924436,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f34b00193d75c6e96af5ecfe3ce33652447193dd1a5b673437981241b6abffca","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8729/tex_ceiling_textures_2285/tex_floor_textures_7211/tex_table_textures_4465/tex_wall_textures_2210","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5443775696371791862,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5443775696371791862,"visual_seed":5443775696371791862,"scene_id":"lab_003","finished_at":"2026-09-04T08:43:18"}
+{"episode_id":"ep_000028","started_at":"2026-09-04T08:43:21","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.5211182020142224,0.8025289403888993,0.71338606911949],"aabb_xy":[[-0.5712156659952962,0.7385289398790875],[-0.4710207380331489,0.8665289408987111]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[0.43161704061917816,0.4352812064843299,0.71338606911949],"aabb_xy":[[0.42765655684944387,0.42761334189880923],[0.43557752438891256,0.44294907106985043]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[-0.5051767151954657,-0.8365459891308353,0.71338606911949],"aabb_xy":[[-0.5601767148172117,-0.8915296819183081],[-0.45017671557371997,-0.7815622963433626]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[0.23304659360926783,-1.2614827338761405,0.71338606911949],"aabb_xy":[[0.2282029988480379,-1.2663343863551249],[0.23789018837049786,-1.2566310813971566]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.4254977542332035,1.6539457381832086,0.71338606911949],"aabb_xy":[[-0.45049775378494206,1.6438032543180736],[-0.4004977546814651,1.664088222048343]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.5873869049683613,-0.5742116071604091,0.71338606911949],"aabb_xy":[[0.5695933980334449,-0.5920113527562066],[0.6051804119032778,-0.5564118615646113]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[-0.09661740244729855,-1.8744403246439567,0.71338606911949],"aabb_xy":[[-0.1606173997329472,-1.9159470435968007],[-0.032617405161649904,-1.8329336056911127]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[0.4442464709194689,0.9977584469496672,0.71338606911949],"aabb_xy":[[0.39424647147927316,0.9477905224653508],[0.4942464703596644,1.0477263714339835]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.17645602966241902,-0.9434299975684535,0.71338606911949],"aabb_xy":[[0.1336893227829988,-1.007430000990256],[0.21922273654183919,-0.879429994146651]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[0.052448882597524005,-2.5652840660279854,0.71338606911949],"aabb_xy":[[0.018673323406831033,-2.57932256124115],[0.08622444178821698,-2.55124557081482]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.28426633430106185,-1.775394101531564,0.71338606911949],"aabb_xy":[[0.2801881763940121,-1.7794750817798275],[0.2883444922081116,-1.7713131212833009]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[-0.14487513437726895,1.459328770480027,0.71338606911949],"aabb_xy":[[-0.1798751326879644,1.4516137555564814],[-0.10987513606657351,1.4670437854035727]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.10253211624043213,0.7043078585854898,0.71338606911949],"aabb_xy":[[-0.12503211625058042,0.6902116389458866],[-0.08003211623028385,0.7184040782250931]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[0.6639086622587194,0.16572820869920335,0.71338606911949],"aabb_xy":[[0.6504621356246759,0.15225835704611212],[0.6773551888927626,0.17919806035229457]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.4996075074147641,-2.161514326373497,0.71338606911949],"aabb_xy":[[0.4916135188370606,-2.169514406468587],[0.5076014959924674,-2.153514246278407]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[-0.3325841729639014,-1.0354961638617677,0.71338606911949],"aabb_xy":[[-0.3875764235994124,-1.0904961656050804],[-0.2775919223283905,-0.9804961621184549]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[0.2605110562072711,-1.3423985248560786,0.71338606911949],"aabb_xy":[[0.2230110554152756,-1.3487663658142686],[0.2980110569992665,-1.3360306838978886]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.47118822846091124,0.7230490410261048,0.71338606911949],"aabb_xy":[[0.4482725155758614,0.7001447438896813],[0.4941039413459612,0.7459533381625283]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.47721501595743465,-1.1839688035629485,0.71338606911949],"aabb_xy":[[0.39721501737011516,-1.2632844055011094],[0.557215014544754,-1.1046532016247876]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.30033131499916665,-1.5326900014105957,0.71338606911949],"aabb_xy":[[-0.33533131326928656,-1.5397641291055837],[-0.26533131672904675,-1.5256158737156074]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[-0.3655246019541544,-0.2941105674505562,0.71338606911949],"aabb_xy":[[-0.43052459983580227,-0.34523423115709706],[-0.30052460407250664,-0.24298690374401533]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.41044002436815835,0.20462326555714183,0.71338606911949],"aabb_xy":[[-0.4604400256519983,0.1546444111665197],[-0.3604400230843184,0.2546021199477639]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6564927204326039,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5703.png","name":"5703"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5703.png","name":"5703"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4151.png","name":"4151"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/922.png","name":"922"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2126.png","name":"2126"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4510.png","name":"4510"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":586.1994867204166,"rotation_z_degrees":163.55626549986775,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008833188099858757,-0.0064708083414663255,-0.01803677251554737]},{"name":"camera_2","offset_m":[0.00592259278438095,0.018453595199986305,-0.0059683174465060065]},{"name":"camera_3","offset_m":[0.0031016055949814984,-0.0039147927480086865,-0.017898428600315097]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015991560603046287,0.0015552427639946203,0.000262992487499458],"end_effector_yaw_offset_degrees":-0.7094584879947574},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008083544923386957,0.0019806302723446205,0.001585477489839165],"end_effector_yaw_offset_degrees":-0.8139375493145939},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017821447979777297,0.0013218991334253234,0.0008840268225829432],"end_effector_yaw_offset_degrees":-0.3203354580929507}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0044389275605374225,-0.0036828929289788237],"position_m":[0.21286107243946256,-0.023982892928978823,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034594160614284507,-0.003137266683858304],"position_m":[0.21074058393857156,-0.38213726668385833,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00030295242727095256,-0.004679105780743415],"position_m":[0.21050295242727096,0.29092089421925654,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010138284838636007,-0.003104773486558565],"position_m":[0.3507861715161364,0.1287952265134414,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e62f3df7fa3550ead6bfb04cbdd12b4238e38a01bb7b6700e7aa4902e172a7d0","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5703/tex_ceiling_textures_4510/tex_floor_textures_2126/tex_table_textures_4151/tex_wall_textures_922","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8802192153072511391,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8802192153072511391,"visual_seed":8802192153072511391,"scene_id":"lab_003","finished_at":"2026-09-04T08:46:02"}
+{"episode_id":"ep_000029","started_at":"2026-09-04T08:46:06","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.453825690599887,1.3849894980651558,0.71338606911949],"aabb_xy":[[-0.48814196777450486,1.3349894980919779],[-0.419509413425269,1.4349894980383333]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[0.44223104325129015,-2.35104434137508,0.71338606911949],"aabb_xy":[[0.430869308598004,-2.3624128077813675],[0.4535927779045763,-2.339675874968792]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.2968715949049884,-2.1212170978450104,0.71338606911949],"aabb_xy":[[-0.3418641816234388,-2.166217097119459],[-0.25187900818653797,-2.0762170985705617]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[0.6224687042481767,1.5277284909688142,0.71338606911949],"aabb_xy":[[0.5856181563111891,1.4902284901457805],[0.6593192521851643,1.565228491791848]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[0.5341243836032095,-2.40111888743704,0.71338606911949],"aabb_xy":[[0.5247773760209141,-2.4154225096546837],[0.5434713911855046,-2.3868152652193957]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.13842546893560304,-2.206617788933882,0.71338606911949],"aabb_xy":[[-0.1884042774459189,-2.2566177889396],[-0.08844666042528712,-2.1566177889281626]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.5297055676553808,-0.09501097951223603,0.71338606911949],"aabb_xy":[[-0.5797005786148329,-0.14501097854782777],[-0.4797105566959289,-0.04501098047664432]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.23555773115843642,1.398077081722855,0.71338606911949],"aabb_xy":[[-0.27305773234322916,1.3936588590267942],[-0.1980577299736436,1.4024953044189152]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.5497417805615497,0.6692727537169798,0.71338606911949],"aabb_xy":[[0.5417054458602647,0.661234634412563],[0.5577781152628344,0.6773108730213966]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.18106743718088536,-1.7157129315014998,0.71338606911949],"aabb_xy":[[-0.26106743434046065,-1.7272605324593167],[-0.10106744002131005,-1.7041653305436826]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.522023574831064,-0.09706289219349351,0.71338606911949],"aabb_xy":[[0.5166859991650595,-0.12206289312263331],[0.5273611504970687,-0.07206289126435374]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[0.5303532154688528,0.5393978372607044,0.71338606911949],"aabb_xy":[[0.475228009839262,0.47939783581941736],[0.5854784210984435,0.5993978387019916]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.5977289045527763,-0.5985062969552446,0.71338606911949],"aabb_xy":[[-0.6627289056587196,-0.623471670023373],[-0.532728903446833,-0.5735409238871164]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.4564969385471449,1.6060859143699848,0.71338606911949],"aabb_xy":[[0.44847066791651885,1.5973344193926322],[0.46452320917777085,1.6148374093473374]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.09340320775136224,1.5876499869583722,0.71338606911949],"aabb_xy":[[-0.1309032075683958,1.5830117756472302],[-0.055903207934328666,1.5922881982695138]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[-0.37425193264912127,-0.15538110489405055,0.71338606911949],"aabb_xy":[[-0.3779551939782601,-0.15908312320276838],[-0.3705486713199823,-0.15167908658533266]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.1347337764722114,0.3968506664411624,0.71338606911949],"aabb_xy":[[-0.14666651083403948,0.38446851363330303],[-0.12280104211038334,0.4092328192490218]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[-0.5724136242433956,-0.5180859128821864,0.71338606911949],"aabb_xy":[[-0.6099136250353909,-0.5244537538403765],[-0.5349136234514,-0.5117180719239963]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[0.2043667441312994,-0.8614549431037863,0.71338606911949],"aabb_xy":[[0.14036674221895706,-0.9173660923617968],[0.26836674604364175,-0.8055437938457759]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[0.40010745858823715,-0.5628837098178447,0.71338606911949],"aabb_xy":[[0.35000999460716353,-0.6268837103276566],[0.4502049225693108,-0.49888370930803294]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[-0.5750329353735971,1.1840224215029447,0.71338606911949],"aabb_xy":[[-0.5844504099434598,1.1746062443652254],[-0.5656154608037343,1.1934385986406635]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6523894422760289,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6321.png","name":"6321"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6321.png","name":"6321"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1033.png","name":"1033"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8607.png","name":"8607"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2187.png","name":"2187"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2763.png","name":"2763"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":693.9456875762405,"rotation_z_degrees":282.4760881447991,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01030067466764348,0.014759934477688415,-0.011039365181308129]},{"name":"camera_2","offset_m":[-0.014359506555335803,-0.012445327568903472,-0.00953009157788126]},{"name":"camera_3","offset_m":[-0.017585290548008815,0.009486981991911704,-0.01168951665385943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00024343773568220135,-0.0007067640148167578,-0.0018529598137449535],"end_effector_yaw_offset_degrees":0.04909446854611055},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015220255797932765,0.0013079662444735207,0.000652271869580993],"end_effector_yaw_offset_degrees":0.44315946793827066},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009479942601558463,-0.0008602745649816499,1.3815531896216662e-05],"end_effector_yaw_offset_degrees":0.06804343153674752}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031218801024678468,-0.0021746593893036525],"position_m":[0.21417811989753216,-0.022474659389303653,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004881044312309885,0.0019403415865908505],"position_m":[0.20931895568769013,-0.37705965841340916,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026788153426507222,-0.004815827639742183],"position_m":[0.20752118465734928,0.2907841723602578,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034902913761514554,-0.00228031273506223],"position_m":[0.3483097086238485,0.12961968726493775,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"016c8f04ba051aafeb69fa396d2713a409802b5494ddfa246c9a2570b4c60b6a","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6321/tex_ceiling_textures_2763/tex_floor_textures_2187/tex_table_textures_1033/tex_wall_textures_8607","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2387799093133484445,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2387799093133484445,"visual_seed":2387799093133484445,"scene_id":"lab_003","finished_at":"2026-09-04T08:48:48"}
+{"episode_id":"ep_000030","started_at":"2026-09-04T08:48:52","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[0.019574779080755667,-2.1941645171827657,0.71338606911949],"aabb_xy":[[0.011360233965071685,-2.202841107480406],[0.027789324196439643,-2.1854879268851235]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.5100588970613675,-1.1620002983913262,0.71338606911949],"aabb_xy":[[-0.5282647207226152,-1.173025698973318],[-0.49185307340011986,-1.1509748978093348]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.414558022563896,-1.6088678645488848,0.71338606911949],"aabb_xy":[[-0.47855801895946903,-1.6728311529676183],[-0.3505580261683229,-1.5449045761301512]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.3934671665492648,-0.2309408744510293,0.71338606911949],"aabb_xy":[[-0.40224839369650106,-0.2397206217395595],[-0.3846859394020286,-0.2221611271624992]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[-0.3735417827802184,-0.6543044072813629,0.71338606911949],"aabb_xy":[[-0.42352473296769766,-0.7043044069239233],[-0.323558832592739,-0.6043044076388024]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.3492888521193873,1.1704921368874524,0.71338606911949],"aabb_xy":[[-0.396418231121223,1.1064921358430502],[-0.30215947311755165,1.234492137931854]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[0.37891511727598615,-1.0708587049285092,0.71338606911949],"aabb_xy":[[0.3149151199736397,-1.115225131896366],[0.4429151145783325,-1.0264922779606525]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[-0.5963799544923528,1.4888300898359108,0.71338606911949],"aabb_xy":[[-0.6513536765286857,1.4338300902716776],[-0.5414062324560199,1.543830089400144]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[-0.01005692718208695,1.473818758573055,0.71338606911949],"aabb_xy":[[-0.07405692940249398,1.429445674447767],[0.053943075038320076,1.5181918426983436]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[-0.49779646576210623,-2.013374709046086,0.71338606911949],"aabb_xy":[[-0.5438815570168376,-2.0773747062986407],[-0.4517113745073747,-1.9493747117935307]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.3534598706652773,1.4226817560550278,0.71338606911949],"aabb_xy":[[-0.43845986935735193,1.390695892660149],[-0.26845987197320265,1.4546676194499066]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.5154788950049137,0.03124521019028803,0.71338606911949],"aabb_xy":[[-0.6051659713130293,-0.05875479006416252],[-0.4257918186967984,0.12124521044473857]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[0.5721889667033364,0.656020238423781,0.71338606911949],"aabb_xy":[[0.4921889664297295,0.5830706905980643],[0.6521889669769434,0.7289697862494977]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[0.30936605376778004,-2.5115603242584403,0.71338606911949],"aabb_xy":[[0.24536605054914218,-2.558283436157449],[0.3733660569864179,-2.4648372123594324]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[0.4658840369965198,-0.8137990567807045,0.71338606911949],"aabb_xy":[[0.4158892040685782,-0.863799055675948],[0.5158788699244614,-0.7637990578854609]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[0.11264215355570328,-2.097045857324393,0.71338606911949],"aabb_xy":[[0.07514215237091047,-2.101464080020453],[0.15014215474049605,-2.092627634628332]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.23636238946750898,0.4302060229721718,0.71338606911949],"aabb_xy":[[0.2322464393554363,0.42609046793932626],[0.24047833957958162,0.43432157800501725]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.5356355971828465,0.25255866293631435,0.71338606911949],"aabb_xy":[[-0.5856355958287676,0.20263911927685196],[-0.4856355985369252,0.30247820659577673]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[-0.037533787527822216,1.7210911781503433,0.71338606911949],"aabb_xy":[[-0.04843956361538493,1.6410911817515144],[-0.026628011440259503,1.8010911745491727]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[-0.44794719747374645,-2.2236302144531312,0.71338606911949],"aabb_xy":[[-0.4704471972876489,-2.2281048308236118],[-0.4254471976598441,-2.2191555980826507]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[-0.5509110034772152,0.7318300008173511,0.71338606911949],"aabb_xy":[[-0.6149110053895576,0.6759188515593406],[-0.4869110015648729,0.7877411500753615]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.33806052674939546,0.9980933814173993,0.71338606911949],"aabb_xy":[[-0.34339304140400845,0.9927690531721637],[-0.3327280120947825,1.0034177096626347]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.20339849236835317,-0.5109906836605824,0.71338606911949],"aabb_xy":[[-0.263398494011275,-0.5629908329525266],[-0.14339849072543132,-0.45899053436863824]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[-0.18055570793288744,0.21429517478653937,0.71338606911949],"aabb_xy":[[-0.18971558687676401,0.20776395674300235],[-0.17139582898901082,0.22082639283007638]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[0.506363160218861,-1.3383877637249424,0.71338606911949],"aabb_xy":[[0.5003261472181962,-1.3444144647938905],[0.5124001732195257,-1.3323610626559943]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[-0.5803383498139292,-0.932043293204313,0.71338606911949],"aabb_xy":[[-0.645338349848232,-0.9787439698846402],[-0.5153383497796266,-0.8853426165239856]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[-0.6567846978544276,1.111905425810682,0.71338606911949],"aabb_xy":[[-0.6632863343624323,1.1021376037843722],[-0.6502830613464231,1.1216732478369917]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_27","position":[0.14750054359166576,1.359338580763091,0.71338606911949],"aabb_xy":[[0.13000054333232916,1.3452470385743187],[0.1650005438510024,1.373430122951864]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_28","position":[0.5315273317152416,-0.6707278795530491,0.71338606911949],"aabb_xy":[[0.5211157730347578,-0.6760736128889476],[0.5419388903957252,-0.6653821462171506]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[0.09049182020925639,-1.4176153336073138,0.71338606911949],"aabb_xy":[[0.060093709110112796,-1.4480222356089834],[0.12088993130839996,-1.3872084316056443]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_30","position":[-0.29907365267070757,1.7481062145530148,0.71338606911949],"aabb_xy":[[-0.3630736519648758,1.6841200741841607],[-0.23507365337653935,1.812092354921869]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[-0.29224338742644834,0.22515931951478896,0.71338606911949],"aabb_xy":[[-0.3247050883083757,0.1950264873998863],[-0.2597816865445208,0.25529215162969154]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_32","position":[-0.24149690660342532,0.3694965406464732,0.71338606911949],"aabb_xy":[[-0.2468344822694299,0.3444965397173334],[-0.23615933093742075,0.394496541575613]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_33","position":[-0.3149627395866712,-1.1314298132103389,0.71338606911949],"aabb_xy":[[-0.3949627428445142,-1.2114263210023226],[-0.2349627363288283,-1.0514333054183547]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6583881275000836,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/739.png","name":"739"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/739.png","name":"739"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6021.png","name":"6021"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6832.png","name":"6832"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4533.png","name":"4533"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1565.png","name":"1565"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":659.7750654745148,"rotation_z_degrees":128.67353279884114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014235773854326828,-0.015991742904959798,0.01607799277705951]},{"name":"camera_2","offset_m":[-0.006950135128808564,-0.002146205923487479,0.00991071005880383]},{"name":"camera_3","offset_m":[-0.004090059812349417,-0.00854725198276821,-0.01834108967850156]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004723182786141088,7.067337793543104e-05,0.0005509174159006925],"end_effector_yaw_offset_degrees":0.02480465503037599},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008509983805224204,-0.0018976318904702612,-0.0006940801318941685],"end_effector_yaw_offset_degrees":-0.7986167582854893},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008289364881009745,8.815903478799451e-05,0.0007081771108911105],"end_effector_yaw_offset_degrees":0.2407458784345924}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036798723520907253,-0.00023282795870128124],"position_m":[0.21362012764790927,-0.02053282795870128,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036247272185110533,0.003622932608946931],"position_m":[0.21782472721851107,-0.3753770673910531,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004265322121498277,-0.003494896082398391],"position_m":[0.20593467787850173,0.2921051039176016,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034699914100543737,0.003145753700149763],"position_m":[0.3552699914100544,0.13504575370014976,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ec6e7e8f9afccd3fbf2fd6549b47ced93e6a849168f5792aae1272233a7196f","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_739/tex_ceiling_textures_1565/tex_floor_textures_4533/tex_table_textures_6021/tex_wall_textures_6832","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8322147054712550365,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8322147054712550365,"visual_seed":8322147054712550365,"scene_id":"lab_003","finished_at":"2026-09-04T08:51:43"}
+{"episode_id":"ep_000031","started_at":"2026-09-04T08:51:49","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.03931129931224331,-2.5275889393783095,0.71338606911949],"aabb_xy":[[-0.1293112987306142,-2.560964436222499],[0.05068870010612758,-2.4942134425341194]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[0.6511428181512955,-1.5647976207589702,0.71338606911949],"aabb_xy":[[0.6341327208612448,-1.5809321092572441],[0.6681529154413461,-1.5486631322606963]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[-0.3708441159014229,-1.985161961249575,0.71338606911949],"aabb_xy":[[-0.4008116728112486,-2.0151619615474607],[-0.34087655899159724,-1.9551619609516893]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[-0.5857815972930088,1.543250173080033,0.71338606911949],"aabb_xy":[[-0.5966873733805715,1.4632501766812038],[-0.5748758212054461,1.6232501694788621]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.19838994499545037,-2.2198327333040724,0.71338606911949],"aabb_xy":[[0.14838994397631514,-2.2562989490419008],[0.2483899460145857,-2.183366517566245]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.49577944033865873,-0.259041658463246,0.71338606911949],"aabb_xy":[[-0.5134122759321862,-0.276664604478869],[-0.47814660474513115,-0.24141871244762306]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.3888858049323465,-1.0003809310643932,0.71338606911949],"aabb_xy":[[0.31888580280091683,-1.0231428966900886],[0.4588858070637759,-0.9776189654386973]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.18835525094597216,1.1321421066094044,0.71338606911949],"aabb_xy":[[-0.25835525433753415,1.0968263329059735],[-0.1183552475544102,1.1674578803128353]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[0.044847682460401384,-2.285944473408366,0.71338606911949],"aabb_xy":[[0.007347680944769681,-2.297171246424511],[0.08234768397603309,-2.274717700392221]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[0.029718437639164486,1.2236625400780219,0.71338606911949],"aabb_xy":[[-0.060281566037753684,1.1622301335009173],[0.11971844131608264,1.285094946655126]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.47016677514808575,0.8924137212653571,0.71338606911949],"aabb_xy":[[-0.4937518986119806,0.8274137190199253],[-0.4465816516841909,0.9574137235107889]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[-0.23360319151507986,-2.0675635443012053,0.71338606911949],"aabb_xy":[[-0.25651890440012975,-2.090467841437629],[-0.21068747863002996,-2.044659247164782]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.5194202118041793,0.7585724693490752,0.71338606911949],"aabb_xy":[[0.5076520250095219,0.6735724694438536],[0.5311883985988369,0.8435724692542969]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[-0.4047079739556965,-0.45288512133270364,0.71338606911949],"aabb_xy":[[-0.4687079742296747,-0.5029512215299916],[-0.34070797368171823,-0.4028190211354157]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.607688630810642,-2.0761062853184984,0.71338606911949],"aabb_xy":[[0.5885763234526631,-2.0952410641957404],[0.6268009381686208,-2.0569715064412564]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.3797751234721769,-1.6306114695983518,0.71338606911949],"aabb_xy":[[0.3297801125127249,-1.6806114686339437],[0.429770134431629,-1.5806114705627603]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[-0.5509495556887382,0.7015733580672441,0.71338606911949],"aabb_xy":[[-0.5884495559809129,0.6975318826666405],[-0.5134495553965632,0.7056148334678477]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.6066094348790971,-1.2019509254517833,0.71338606911949],"aabb_xy":[[-0.6706094365570945,-1.2504683169310973],[-0.5426094332010998,-1.1534335339724688]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.3580126243700636,1.2152357036992067,0.71338606911949],"aabb_xy":[[-0.407985918373324,1.1652357031446594],[-0.3080393303668031,1.265235704253754]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[0.13479819729347242,1.4342772089146396,0.71338606911949],"aabb_xy":[[0.05479819701986543,1.3613276610889227],[0.21479819756707938,1.507226756740356]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.4099768191882455,0.4866986688783155,0.71338606911949],"aabb_xy":[[-0.41869078823817996,0.4641986682191272],[-0.401262850138311,0.5091986695375036]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.4308195730040336,0.6093105311829707,0.71338606911949],"aabb_xy":[[0.35081957434714767,0.594805672258708],[0.5108195716609196,0.6238153901072335]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_22","position":[0.35664871237805174,-0.29440748678109463,0.71338606911949],"aabb_xy":[[0.3341522909441876,-0.3169074865878421],[0.3791451338119158,-0.27190748697434725]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6572826218969219,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4019.png","name":"4019"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4019.png","name":"4019"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9171.png","name":"9171"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2204.png","name":"2204"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8503.png","name":"8503"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3797.png","name":"3797"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":512.3614558986498,"rotation_z_degrees":24.72645921820454,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009236363849348072,-0.017758609151622636,0.009837866376887393]},{"name":"camera_2","offset_m":[0.0023911576400470133,-0.010870802529777977,-0.008612060672148791]},{"name":"camera_3","offset_m":[-0.01380123302608987,-0.0036894129280078507,0.004708431087931092]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001101825965686711,-0.0011349860624419298,-2.1032065819717553e-05],"end_effector_yaw_offset_degrees":0.45050179270061785},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013704970346331397,-0.001313169639934034,0.0010154957567254895],"end_effector_yaw_offset_degrees":-0.277942005264582},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016501832067897797,-0.0006679702740951671,0.000729514201999223],"end_effector_yaw_offset_degrees":0.6720615730827824}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037465858515881726,-0.0026030606821032623],"position_m":[0.2135534141484118,-0.022903060682103262,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011202423437439036,-0.0012155658029420714],"position_m":[0.21307975765625609,-0.3802155658029421,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012255706227520405,-0.0027118716941704124],"position_m":[0.21142557062275205,0.29288812830582955,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004952225698663634,-0.0009932352540247122],"position_m":[0.35675222569866366,0.1309067647459753,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bcc32ecf71a0c239233d6b20df727830d55ab4625ae202176439740193553d72","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4019/tex_ceiling_textures_3797/tex_floor_textures_8503/tex_table_textures_9171/tex_wall_textures_2204","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":4153570277589408989,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":4153570277589408989,"visual_seed":4153570277589408989,"scene_id":"lab_003","finished_at":"2026-09-04T08:54:47"}
+{"episode_id":"ep_000032","started_at":"2026-09-04T08:54:50","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.5851291289410158,1.0733960573030696,0.71338606911949],"aabb_xy":[[-0.6491291253683378,1.0262264334809734],[-0.521129132513694,1.1205656811251663]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[0.02930431630324859,-1.8260525749333896,0.71338606911949],"aabb_xy":[[0.0009746063547083662,-1.8305133171271069],[0.05763402625178882,-1.8215918327396727]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[0.014726101597293595,-2.100279833313832,0.71338606911949],"aabb_xy":[[-0.004386205760685269,-2.119414612191074],[0.03383840895527246,-2.08114505443659]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[-0.25819841015701606,0.6987631490213504,0.71338606911949],"aabb_xy":[[-0.2622765680640658,0.694682168773087],[-0.2541202522499663,0.7028441292696136]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.1186882615703353,0.8644024094655989,0.71338606911949],"aabb_xy":[[-0.19868825955112035,0.8568008685037469],[-0.03868826358955026,0.8720039504274508]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[-0.22715848071537353,-1.7843631563058353,0.71338606911949],"aabb_xy":[[-0.2521584799873358,-1.8007085199019979],[-0.20215848144341128,-1.7680177927096732]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.3269703945609226,-1.4314962801560598,0.71338606911949],"aabb_xy":[[0.2629703974488169,-1.4805286499504704],[0.3909703916730283,-1.3824639103616492]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[0.40902651553107106,0.7911106927196707,0.71338606911949],"aabb_xy":[[0.3240265168389964,0.7591248293247919],[0.4940265142231457,0.8230965561145496]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[-0.4911095772796568,-0.7168586615547143,0.71338606911949],"aabb_xy":[[-0.5286095770966903,-0.7214968728658562],[-0.45360957746262326,-0.7122204502435725]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[0.0840569883614829,-2.4931228546499162,0.71338606911949],"aabb_xy":[[0.07602065366019806,-2.501160973954333],[0.09209332306276774,-2.4850847353454997]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[-0.4355503884681523,1.5817728233822836,0.71338606911949],"aabb_xy":[[-0.4855503897519922,1.531793968991661],[-0.3855503871843123,1.6317516777729053]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[-0.3771105505824575,0.31951857277597906,0.71338606911949],"aabb_xy":[[-0.41360637120973626,0.2830346303492215],[-0.3406147299551788,0.3560025152027366]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[0.3862152667588512,1.1432044829114618,0.71338606911949],"aabb_xy":[[0.3487152664666764,1.139163007510858],[0.423715267051026,1.147245958312065]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.5071317003599021,0.18910092354578323,0.71338606911949],"aabb_xy":[[0.4989171552442179,0.18042433324814192],[0.5153462454755858,0.19777751384342449]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.09965058260219195,0.007480721917816346,0.71338606911949],"aabb_xy":[[-0.1596505842451138,-0.04451942737412784],[-0.039650580959270085,0.05948087120976053]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.30016457276328523,1.5174541041883853,0.71338606911949],"aabb_xy":[[0.2931242628297483,1.4374541047887142],[0.3072048826968223,1.5974541035880572]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[-0.6493734869511449,0.08315273523312872,0.71338606911949],"aabb_xy":[[-0.67320970459175,-0.006847265575357768],[-0.6255372693105399,0.17315273604161519]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.08977237256364912,-1.2708589912873829,0.71338606911949],"aabb_xy":[[-0.17977237198202,-1.3042344881315724],[0.000227626854721788,-1.237483494443193]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.4829160743663429,-0.32274103125282627,0.71338606911949],"aabb_xy":[[-0.5380412799959335,-0.38274103269411336],[-0.4277908687367521,-0.2627410298115391]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.11866828396560414,0.9744677116619274,0.71338606911949],"aabb_xy":[[-0.15721397679080518,0.9359219406057386],[-0.08012259114040311,1.013013482718116]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[-0.6391764930395074,1.4392630343386172,0.71338606911949],"aabb_xy":[[-0.6869826606532761,1.3742630316315583],[-0.5913703254257388,1.504263037045676]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[-0.4478968872702649,-1.9056656310031674,0.71338606911949],"aabb_xy":[[-0.45386342621100056,-1.9116267756625314],[-0.441930348329529,-1.899704486343803]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[-0.653752779366848,-0.5213296451616123,0.71338606911949],"aabb_xy":[[-0.6639057949209971,-0.5573991867343525],[-0.6435997638126983,-0.48526010358887184]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[0.6113167763352865,1.3293946841007234,0.71338606911949],"aabb_xy":[[0.5957610069250211,1.3138442508563164],[0.6268725457455516,1.3449451173451308]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.04972953313726136,-1.5869489334467906,0.71338606911949],"aabb_xy":[[-0.02027046846501812,-1.6003817266484481],[0.11972953473954084,-1.573516140245133]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_25","position":[0.4932720077615709,-2.0368380977916813,0.71338606911949],"aabb_xy":[[0.403272011260699,-2.082749740210139],[0.5832720042624424,-1.9909264553732229]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[-0.6514492805971133,0.2770903122251913,0.71338606911949],"aabb_xy":[[-0.6689492797314803,0.2672106851876035],[-0.633949281462746,0.28696993926277914]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[0.08270142677970949,1.2599924024991869,0.71338606911949],"aabb_xy":[[0.07093323998505197,1.1749924025939655],[0.09446961357436702,1.3449924024044086]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_28","position":[-0.48592843141023867,1.3858593518112423,0.71338606911949],"aabb_xy":[[-0.49522204964738925,1.3483593533231084],[-0.4766348131730881,1.4233593502993762]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[0.4922140248784459,-0.5871277622076518,0.71338606911949],"aabb_xy":[[0.4272140238779453,-0.6379141273623268],[0.5572140258789464,-0.5363413970529769]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_30","position":[0.18826861825714003,-1.1095152707225349,0.71338606911949],"aabb_xy":[[0.18098630188047635,-1.1995152743320436],[0.19555093463380366,-1.0195152671130256]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6541691456694564,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5146.png","name":"5146"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5146.png","name":"5146"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1066.png","name":"1066"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7661.png","name":"7661"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7185.png","name":"7185"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9932.png","name":"9932"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":769.69095889473,"rotation_z_degrees":229.3696394414626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00610521528080012,-0.017522379427661185,0.005541383054494243]},{"name":"camera_2","offset_m":[-0.008368506115952813,0.004655187064714111,-0.013793003737712875]},{"name":"camera_3","offset_m":[-0.014365606473091264,-0.0023928547060259563,0.010822775037450372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004805331179951278,-0.0014302888411516067,-7.437665457759885e-05],"end_effector_yaw_offset_degrees":0.30977184768422417},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015677561583233959,0.0011586599081720877,-0.0015666033156265004],"end_effector_yaw_offset_degrees":0.22638349841351202},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008597302991323885,-0.0016938056829880143,0.00087463532767359],"end_effector_yaw_offset_degrees":-0.38238770632040553}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011494622659008534,-0.0014036923357728039],"position_m":[0.21615053773409915,-0.021703692335772802,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032434196165488085,0.0011734650865150133],"position_m":[0.2109565803834512,-0.377826534913485,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017351237081419425,0.0029942297908215247],"position_m":[0.20846487629185806,0.2985942297908215,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002293651088905056,-0.0046740226704943336],"position_m":[0.3520293651088905,0.12722597732950566,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"92bb3158c11d8b578db0ea81cedd0c24cfb4cd913e12e8a11105ccd506f4ee0c","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5146/tex_ceiling_textures_9932/tex_floor_textures_7185/tex_table_textures_1066/tex_wall_textures_7661","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3629993145293714088,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3629993145293714088,"visual_seed":3629993145293714088,"scene_id":"lab_003","finished_at":"2026-09-04T08:57:42"}
+{"episode_id":"ep_000033","started_at":"2026-09-04T08:57:47","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.1152556652882818,-2.344794610285059,0.71338606911949],"aabb_xy":[[-0.13275559872226517,-2.3622946102052937],[-0.09775573185429842,-2.3272946103648247]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[0.3583982511026229,1.273374758586694,0.71338606911949],"aabb_xy":[[0.3383398394893826,1.2533096716775363],[0.3784566627158632,1.2934398454958511]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[0.23171843081239085,-2.16751988767001,0.71338606911949],"aabb_xy":[[0.20921843056887546,-2.1797245223297823],[0.25421843105590625,-2.1553152530102384]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[-0.03558391841152109,-1.0964397996681272,0.71338606911949],"aabb_xy":[[-0.04845582191246123,-1.1764398000819634],[-0.02271201491058095,-1.016439799254291]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.4109421551812402,-1.8520177239126967,0.71338606911949],"aabb_xy":[[0.39577928220430325,-1.8671831812078157],[0.4261050281581774,-1.8368522666175782]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[-0.6239180937580061,-0.3120599409330618,0.71338606911949],"aabb_xy":[[-0.6614180941062338,-0.32385133651414527],[-0.5864180934097782,-0.30026854535197817]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.3033791953591602,-1.805648373478302,0.71338606911949],"aabb_xy":[[-0.3236634980825589,-1.8259309986210104],[-0.2830948926357614,-1.7853657483355927]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[0.1553054841280107,1.3509211072791976,0.71338606911949],"aabb_xy":[[0.07530548365779476,1.3426103996648495],[0.23530548459822667,1.359231814893546]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[-0.6190020947702384,1.283213483472172,0.71338606911949],"aabb_xy":[[-0.6689863304784156,1.2332134846586764],[-0.5690178590620611,1.3332134822856676]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.125765845681029,0.38422680056146463,0.71338606911949],"aabb_xy":[[-0.15625009580805918,0.33422680077996875],[-0.09528159555399887,0.43422680034296063]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.2660798490985421,-0.6878068425065913,0.71338606911949],"aabb_xy":[[0.24357984928463972,-0.692281458877072],[0.2885798489124445,-0.6833322261361106]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.12040418785910922,-0.7500496227048217,0.71338606911949],"aabb_xy":[[0.04040418642898201,-0.8295667777174311],[0.20040418928923642,-0.6705324676922122]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[0.3161525882281244,-2.533296113631602,0.71338606911949],"aabb_xy":[[0.2788213117028818,-2.5679491684264546],[0.353483864753367,-2.49864305883675]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.6667021664548792,0.7310790492631165,0.71338606911949],"aabb_xy":[[-0.6720397421208838,0.7060790483339768],[-0.6613645907888747,0.7560790501922564]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.42336072873336095,-1.2393804166712814,0.71338606911949],"aabb_xy":[[0.3593607284728901,-1.2843892160242094],[0.4873607289938317,-1.1943716173183534]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[0.5905715644972152,-1.6689615043072157,0.71338606911949],"aabb_xy":[[0.5779688653601387,-1.6815569005320812],[0.6031742636342916,-1.6563661080823502]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.6363064029282304,-2.010446289084494,0.71338606911949],"aabb_xy":[[-0.6598915263921252,-2.075446291329926],[-0.6127212794643355,-1.9454462868390623]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[-0.20519993364331374,-2.423155353179656,0.71338606911949],"aabb_xy":[[-0.24269993393548858,-2.42719682858026],[-0.16769993335113895,-2.4191138777790524]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[-0.36345464099651964,-0.4295460227970933,0.71338606911949],"aabb_xy":[[-0.4531417173046351,-0.5195460230515438],[-0.2737675646884042,-0.33954602254264277]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[0.6784452224741109,0.9656764768767077,0.71338606911949],"aabb_xy":[[0.6665124881122829,0.9532943240688484],[0.690377956835939,0.9780586296845671]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.4728067442298314,1.0769711730077338,0.71338606911949],"aabb_xy":[[0.45517390863630375,1.0593482269921108],[0.4904395798233589,1.0945941190233568]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[0.6478523095102311,-1.1845590355844189,0.71338606911949],"aabb_xy":[[0.6369465334226684,-1.264559031983248],[0.6587580855977938,-1.1045590391855897]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[-0.40758257192868985,0.563483216871179,0.71338606911949],"aabb_xy":[[-0.4308644141268212,0.47848321557395085],[-0.3843007297305585,0.6484832181684069]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[0.1963807159572788,-1.1310176377285122,0.71338606911949],"aabb_xy":[[0.18987907944927424,-1.1407854597548222],[0.20288235246528347,-1.1212498157022026]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[-0.19940158978495942,-0.08930688113812701,0.71338606911949],"aabb_xy":[[-0.20435760996984065,-0.11180688134024865],[-0.19444556960007825,-0.0668068809360054]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[-0.4849366451679618,-1.5845996598383734,0.71338606911949],"aabb_xy":[[-0.5499366478057552,-1.6360792585378205],[-0.4199366425301684,-1.5331200611389266]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[-0.22330922038687223,0.14008611309268515,0.71338606911949],"aabb_xy":[[-0.2883092213439994,0.08813790115897958],[-0.15830921942974502,0.19203432502639073]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_27","position":[-0.4326611394723716,1.1027682108384638,0.71338606911949],"aabb_xy":[[-0.4966611365844773,1.0537358410440532],[-0.3686611423602659,1.1518005806328744]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[-0.45315551376549346,1.4875043177542175,0.71338606911949],"aabb_xy":[[-0.518155514765994,1.4367179525995424],[-0.3881555127649929,1.5382906829088923]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_29","position":[0.5183430862277247,0.9426913517326048,0.71338606911949],"aabb_xy":[[0.4730644713465755,0.8786913523844211],[0.563621701108874,1.0066913510807884]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_30","position":[0.14816836935913724,0.8041209322485767,0.71338606911949],"aabb_xy":[[0.12365474526213135,0.7798563389465402],[0.17268199345614307,0.8283855255506131]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_31","position":[0.6074198951305272,-0.6824985820164844,0.71338606911949],"aabb_xy":[[0.5824198951980094,-0.6893812502374077],[0.6324198950630452,-0.6756159137955611]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_32","position":[0.15509372952510758,1.5189179699894146,0.71338606911949],"aabb_xy":[[0.12050264667106238,1.4539179697043834],[0.1896848123791528,1.5839179702744455]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_33","position":[0.13590395694848567,-2.278412516705468,0.71338606911949],"aabb_xy":[[0.09488601356211479,-2.3284125173364254],[0.17692190033485655,-2.2284125160745107]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_34","position":[-0.21777543655654963,-0.7112426718878164,0.71338606911949],"aabb_xy":[[-0.2817754351431221,-0.7582496352873251],[-0.15377543796997717,-0.6642357084883077]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6596182484508764,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1298.png","name":"1298"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1298.png","name":"1298"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/127.png","name":"127"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/33.png","name":"33"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2792.png","name":"2792"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3546.png","name":"3546"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":654.9062077126446,"rotation_z_degrees":72.75458416877632,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009297266752824395,0.019901594760274418,-0.019649721146897527]},{"name":"camera_2","offset_m":[0.011267902260129154,0.008177943962461218,-0.007245562605213581]},{"name":"camera_3","offset_m":[0.014722130116343584,0.015596766539510507,-0.00574349174376914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00032443138052966987,0.0016941917904417965,-0.0006535361635487292],"end_effector_yaw_offset_degrees":0.7768389600682033},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000834161056521128,0.0011768228221334751,0.00015019680520296768],"end_effector_yaw_offset_degrees":-0.27272358612612857},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016237099054174627,-0.00149877297730131,0.00034185760867542743],"end_effector_yaw_offset_degrees":-0.9363787355197235}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001286080304186572,0.0032315400046987125],"position_m":[0.21858608030418655,-0.017068459995301287,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004765174652987048,0.0031087525060310333],"position_m":[0.21896517465298704,-0.37589124749396896,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004198594921888574,-0.0005234116975429094],"position_m":[0.20600140507811143,0.2950765883024571,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003181760807948412,0.0021770860695290483],"position_m":[0.3486182391920516,0.13407708606952903,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a8f2641a45772868f67232cf490745e136b0c4df474fc66e1e8ab7dfba74b58c","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1298/tex_ceiling_textures_3546/tex_floor_textures_2792/tex_table_textures_127/tex_wall_textures_33","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":94056135354814024,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":94056135354814024,"visual_seed":94056135354814024,"scene_id":"lab_003","finished_at":"2026-09-04T09:00:34"}
+{"episode_id":"ep_000034","started_at":"2026-09-04T09:00:39","dimensions":{"distractor":{"count":30,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.46931476421740204,-2.121189103471451,0.71338606911949],"aabb_xy":[[0.44740608207805094,-2.143089770291542],[0.491223446356753,-2.0992884366513604]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.39424480214405055,-0.1813879868234607,0.71338606911949],"aabb_xy":[[-0.40400079165322444,-0.19115052088269513],[-0.38448881263487666,-0.17162545276422625]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[-0.568725268968567,0.3190812135300467,0.71338606911949],"aabb_xy":[[-0.5752269054765717,0.309313391503737],[-0.5622236324605625,0.32884903555635653]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[-0.5168605795784348,-2.2435243457696386,0.71338606911949],"aabb_xy":[[-0.5413742036754406,-2.267788939071675],[-0.4923469554814289,-2.219259752467602]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.6577818665998216,1.1264063380108578,0.71338606911949],"aabb_xy":[[-0.6927818657297773,1.1206611169351934],[-0.622781867469866,1.1321515590865217]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.5754829214536245,-2.0244548093366337,0.71338606911949],"aabb_xy":[[-0.5872511082482821,-2.1094548092418557],[-0.563714734658967,-1.9394548094314126]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[0.39476521159322076,-0.48161688178403583,0.71338606911949],"aabb_xy":[[0.3722652110811801,-0.5041087401494342],[0.4172652121052613,-0.4591250234186375]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.07232107359392792,-2.0931988595341635,0.71338606911949],"aabb_xy":[[0.06044899058242682,-2.178198859227814],[0.08419315660542905,-2.008198859840513]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[0.03553827667614207,0.7633215354318423,0.71338606911949],"aabb_xy":[[0.0072085667276018395,0.7588607932381254],[0.0638679866246823,0.7677822776255595]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.4204203688823354,0.16896888096721474,0.71338606911949],"aabb_xy":[[-0.4589660617075364,0.13042310991102607],[-0.3818746760571343,0.2075146520234034]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.5191041874885711,1.321611527315897,0.71338606911949],"aabb_xy":[[0.4961884746035212,1.2987072301794738],[0.542019900373621,1.3445158244523208]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.11182341256981354,-1.1084662536568664,0.71338606911949],"aabb_xy":[[0.1045796465235682,-1.1884662518604687],[0.11906717861605885,-1.028466255453264]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[-0.1476147352106616,-1.224800596406133,0.71338606911949],"aabb_xy":[[-0.2116147374310686,-1.2691736805314213],[-0.08361473299025454,-1.1804275122808447]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[-0.02148273571471071,0.953465960942331,0.71338606911949],"aabb_xy":[[-0.05898273553174427,0.9488277496311892],[0.01601726410232285,0.9581041722534729]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[0.33355986368957224,-1.6888035258521916,0.71338606911949],"aabb_xy":[[0.26955986640392365,-1.7303102448050356],[0.39755986097522095,-1.6472968068993477]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.049281549643385936,-1.91430118378193,0.71338606911949],"aabb_xy":[[-0.07311776728399103,-2.0043011845904166],[-0.025445332002780888,-1.8243011829734437]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[0.6389278300326453,0.3325441161416629,0.71338606911949],"aabb_xy":[[0.5739278321509976,0.28142045243512204],[0.7039278279142932,0.3836677798482038]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[-0.2822054374296432,1.2427314950252897,0.71338606911949],"aabb_xy":[[-0.2997054376889799,1.2286399528365173],[-0.26470543717030665,1.2568230372140625]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[-0.2836980212344946,-0.8108558041704053,0.71338606911949],"aabb_xy":[[-0.2871386974745518,-0.8147172371447698],[-0.28025734499443744,-0.8069943711960409]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.3975139552794946,-1.3609937654639257,0.71338606911949],"aabb_xy":[[0.3335139550055164,-1.4110598656612137],[0.46151395555347285,-1.3109276652666377]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[-0.15473554629554542,0.371957565023052,0.71338606911949],"aabb_xy":[[-0.16488856184969475,0.33588802345031155],[-0.144582530741396,0.40802710659579217]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[0.22631953866845134,-1.4838284189662416,0.71338606911949],"aabb_xy":[[0.2223590548987169,-1.4914962835517622],[0.23028002243818566,-1.476160554380721]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.27786146481234597,-0.18784749543800405,0.71338606911949],"aabb_xy":[[-0.3378614664552678,-0.23984764472994824],[-0.21786146316942412,-0.13584734614605987]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[-0.41923367721983074,1.546913892398115,0.71338606911949],"aabb_xy":[[-0.46922868817928276,1.4969138933625232],[-0.36923866626037866,1.5969138914337069]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[0.6785510758842048,0.10969324980066819,0.71338606911949],"aabb_xy":[[0.6737074811229748,0.10484159732168408],[0.6833946706454348,0.1145449022796523]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[-0.15788576482301886,-2.1899319108821245,0.71338606911949],"aabb_xy":[[-0.23788576347990487,-2.2044367698063874],[-0.07788576616613285,-2.1754270519578616]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[-0.5595713642725373,-0.6889773872111067,0.71338606911949],"aabb_xy":[[-0.6295713676640993,-0.7242931609145374],[-0.48957136088097536,-0.6536616135076757]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[-0.00896466475028157,-2.2361554698609583,0.71338606911949],"aabb_xy":[[-0.031478356573738764,-2.3061554704619653],[0.013549027073175625,-2.1661554692599503]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_28","position":[0.2276718919612405,1.4591211565825586,0.71338606911949],"aabb_xy":[[0.16267189085529718,1.4341557835144303],[0.2926718930671838,1.4840865296506869]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_29","position":[0.030545569553445562,-1.7417906289893965,0.71338606911949],"aabb_xy":[[0.002700532772838441,-1.7725751277277084],[0.058390606334052686,-1.711006130251085]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6528454402607502,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5428.png","name":"5428"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5428.png","name":"5428"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1005.png","name":"1005"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5121.png","name":"5121"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7163.png","name":"7163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6628.png","name":"6628"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":658.0067900035492,"rotation_z_degrees":104.44883608566874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004281808147183132,-0.014513664269644157,-0.014256662377897116]},{"name":"camera_2","offset_m":[0.017224806472658633,0.009931945051377414,0.0033072246873399394]},{"name":"camera_3","offset_m":[0.011638700506740898,0.0057080263178583834,-0.01595588353116617]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009561636939851596,0.00021381570202024967,-0.0003222725521946387],"end_effector_yaw_offset_degrees":0.19302661372247232},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.48883314784271e-05,0.001281048714673405,0.0008454109910416979],"end_effector_yaw_offset_degrees":-0.6832254050922162},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016886658721490238,0.0007634348470152456,0.0008209201580555939],"end_effector_yaw_offset_degrees":0.08675780734038496}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010326838921754363,-0.0022180677588760954],"position_m":[0.21833268389217542,-0.022518067758876093,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033656770177507176,0.0032961505574003224],"position_m":[0.21083432298224927,-0.37570384944259966,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010275856586748969,0.003273917864567307],"position_m":[0.2091724143413251,0.2988739178645673,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-6.8939417332720965e-06,0.0025945224746627537],"position_m":[0.35179310605826675,0.13449452247466273,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3ab1b9c6270f8ead183fcf56f5bdf69e019456ef1390ada8345de337893f0741","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5428/tex_ceiling_textures_6628/tex_floor_textures_7163/tex_table_textures_1005/tex_wall_textures_5121","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":6674944628065683116,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":6674944628065683116,"visual_seed":6674944628065683116,"scene_id":"lab_003","finished_at":"2026-09-04T09:03:29"}
+{"episode_id":"ep_000035","started_at":"2026-09-04T09:03:32","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[-0.6694984277579009,-1.9781652643677519,0.71338606911949],"aabb_xy":[[-0.6897827304812996,-1.9984478895104603],[-0.649214125034502,-1.9578826392250426]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.11726149814509723,1.1931412121253828,0.71338606911949],"aabb_xy":[[0.047261494753535256,1.157825438421952],[0.18726150153665921,1.2284569858288137]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.19872846256455529,-1.6062871227407176,0.71338606911949],"aabb_xy":[[-0.26372846352168244,-1.6582353346744232],[-0.13372846160742807,-1.554338910807012]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.5890384810794174,-0.07423038904976531,0.71338606911949],"aabb_xy":[[-0.659038482681697,-0.08766318225142287],[-0.519038479477138,-0.06079759584810772]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[-0.12281941122114581,0.617332495913606,0.71338606911949],"aabb_xy":[[-0.20781940963856904,0.532458200451321],[-0.037819412803722585,0.7022067913758909]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.5610860796502561,0.5029529052210271,0.71338606911949],"aabb_xy":[[0.5110860786997233,0.4714037582175057],[0.611086080600789,0.5345020522245485]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.36826057213529756,-2.390589758337162,0.71338606911949],"aabb_xy":[[-0.4057605724274724,-2.3946312337377655],[-0.33076057184312274,-2.386548282936558]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.15789264062975583,-0.8009869256404405,0.71338606911949],"aabb_xy":[[-0.20789264006995145,-0.8509548501247568],[-0.10789264118956021,-0.7510190011561242]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[-0.33706110969467357,-1.354205274935683,0.71338606911949],"aabb_xy":[[-0.40706111233125986,-1.374310139931548],[-0.26706110705808717,-1.334100409939817]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.5697704513998113,-0.2061083880629755,0.71338606911949],"aabb_xy":[[-0.5806220576486868,-0.2169676787906265],[-0.5589188451509356,-0.19524909733532447]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.1988061790174711,-1.449108798320393,0.71338606911949],"aabb_xy":[[0.16536600382145147,-1.4825524241513226],[0.23224635421349069,-1.4156651724894624]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[0.35077231701588585,0.32641566726661875,0.71338606911949],"aabb_xy":[[0.34587302470932235,0.2987387479640499],[0.35567160932244934,0.35409258656918746]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[0.26950059579406715,-1.6925647865461113,0.71338606911949],"aabb_xy":[[0.24427975893422746,-1.717788537398998],[0.29472143265390677,-1.6673410356932246]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.2816210145791805,0.28549625751352137,0.71338606911949],"aabb_xy":[[-0.2991210148242298,0.26799646967395446],[-0.26412101433413104,0.30299604535308816]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.30000827585772866,1.5891457155723168,0.71338606911949],"aabb_xy":[[-0.33750827428112895,1.5759815016044858],[-0.26250827743432825,1.6023099295401473]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[0.01151516433966615,-2.0046215395980562,0.71338606911949],"aabb_xy":[[-0.005984769094317222,-2.0221215395182903],[0.029015097773649523,-1.9871215396778212]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[-0.6496053464028495,-1.3779080942781492,0.71338606911949],"aabb_xy":[[-0.6573085370769265,-1.385617464976887],[-0.6419021557287725,-1.3701987235794113]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.43681415408176805,-1.5965624801622116,0.71338606911949],"aabb_xy":[[0.43311089275262904,-1.6002644984709296],[0.44051741541090683,-1.5928604618534936]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.45553741084750965,1.3628197253080887,0.71338606911949],"aabb_xy":[[-0.4768154189909819,1.2978197229820156],[-0.4342594027040374,1.4278197276341618]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.03280932255696822,1.5007320691802861,0.71338606911949],"aabb_xy":[[-0.03219068008082526,1.4492524704808392],[0.09780932519476171,1.552211667879733]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.6477533768340005,0.7064422670756683,0.71338606911949],"aabb_xy":[[-0.6652533761120872,0.6891041670093223],[-0.6302533775559135,0.7237803671420142]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[-0.28116681932058624,-0.6436046061720373,0.71338606911949],"aabb_xy":[[-0.315629166718728,-0.6780984885698599],[-0.2467044719224444,-0.6091107237742145]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.23644095499249357,-0.146616277263377,0.71338606911949],"aabb_xy":[[-0.300440953579066,-0.19362324066288572],[-0.17244095640592108,-0.09960931386386829]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[-0.360644587883007,-2.5183625645114094,0.71338606911949],"aabb_xy":[[-0.42464458814347783,-2.563371363864337],[-0.2966445876225362,-2.473353765158481]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_24","position":[0.2715042018922683,0.9930915219762682,0.71338606911949],"aabb_xy":[[0.20750420546494647,0.9459218981541718],[0.3355041983195903,1.0402611457983646]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[0.11152252182474698,-1.753104471080018,0.71338606911949],"aabb_xy":[[0.04752252253057876,-1.817090611448872],[0.1755225211189152,-1.6891183307111637]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[-0.1702586356438408,-0.33387589490518277,0.71338606911949],"aabb_xy":[[-0.2502586343007268,-0.3483807538294456],[-0.09025863698695477,-0.31937103598092004]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[0.5080322868101326,1.1095391754925839,0.71338606911949],"aabb_xy":[[0.49048559189401375,1.0720391739283326],[0.5255789817262516,1.1470391770568351]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[-0.508817017380922,-2.3357643968283406,0.71338606911949],"aabb_xy":[[-0.5200620729515398,-2.347006194552436],[-0.49757196181030416,-2.3245225991042453]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.655094575532686,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3877.png","name":"3877"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3877.png","name":"3877"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3635.png","name":"3635"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2570.png","name":"2570"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9175.png","name":"9175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6541.png","name":"6541"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":790.5779508767434,"rotation_z_degrees":332.4031358358071,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001540683123441345,-0.00938346838414898,0.0127529677218431]},{"name":"camera_2","offset_m":[-0.012849589592644595,-0.010701955422787486,0.003955941940011427]},{"name":"camera_3","offset_m":[0.009849190065314487,-0.004123470729241525,-0.0010706249888786622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019073622969607799,-2.5772741685877072e-06,-0.0018985230536355045],"end_effector_yaw_offset_degrees":-0.6352017498828084},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001935658641606933,-0.0019843281303740115,-0.00025784698061765755],"end_effector_yaw_offset_degrees":0.6491804840057793},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004498752594452595,-0.00037943031121285653,-0.0006720778184360592],"end_effector_yaw_offset_degrees":-0.7674564003040047}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001966519540501371,0.0025362891301372904],"position_m":[0.21926651954050136,-0.017763710869862708,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002886894562326865,7.574081140397822e-05],"position_m":[0.21131310543767315,-0.378924259188596,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003023032912407158,-0.002703560507496717],"position_m":[0.21322303291240716,0.29289643949250327,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002794924038360379,-0.0033128673316398004],"position_m":[0.3545949240383604,0.1285871326683602,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3fc66e12bc0f08c6d0dd593b9cc267d4cdc2d1786f602df23935b1c37f3ceb17","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0035.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3877/tex_ceiling_textures_6541/tex_floor_textures_9175/tex_table_textures_3635/tex_wall_textures_2570","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2662267214862216306,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2662267214862216306,"visual_seed":2662267214862216306,"scene_id":"lab_003","finished_at":"2026-09-04T09:06:16"}
+{"episode_id":"ep_000036","started_at":"2026-09-04T09:06:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.6355637322545454,0.8771234728347457,0.71338606911949],"aabb_xy":[[-0.6816488235092769,0.8131234755821906],[-0.589478640999814,0.9411234700873008]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[-0.4774508282765506,0.2500717634505878,0.71338606911949],"aabb_xy":[[-0.4999645201000078,0.1800717628495802],[-0.4549371364530934,0.32007176405159526]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.20480425488816845,1.650329282465599,0.71338606911949],"aabb_xy":[[-0.21291790956154558,1.6422234660115695],[-0.19669060021479137,1.6584350989196277]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.2655664150202109,0.7406775236410184,0.71338606911949],"aabb_xy":[[-0.2768114705908287,0.729435725916923],[-0.25432135944959305,0.7519193213651135]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[-0.0657703946205549,-2.3735750014306847,0.71338606911949],"aabb_xy":[[-0.07301416066680022,-2.453574999634287],[-0.05852662857430957,-2.2935750032270823]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[0.6746358691385106,-0.6491331234139623,0.71338606911949],"aabb_xy":[[0.6371358688463358,-0.653174598814566],[0.7121358694306854,-0.6450916480133587]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.27484151021721304,0.31113167682850085,0.71338606911949],"aabb_xy":[[-0.3388415116252037,0.2593427253045761],[-0.2108415088092224,0.3629206283524255]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.609356118853293,-1.7597272711537901,0.71338606911949],"aabb_xy":[[0.5941839495716598,-1.7748961280819933],[0.6245282881349264,-1.7445584142255866]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.03975184839007151,-2.1062518367058525,0.71338606911949],"aabb_xy":[[0.022251849255704333,-2.11613146374344],[0.057251847524438675,-2.096372209668264]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.5544861281029272,-1.328197926786255,0.71338606911949],"aabb_xy":[[0.516986127605569,-1.332166610334373],[0.5919861286002854,-1.3242292432381364]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.027466701573155672,-1.0124289019975505,0.71338606911949],"aabb_xy":[[-0.04496670085124255,-1.0297670020638965],[-0.009966702295068793,-0.9950908019312046]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.5320530212550567,0.7630000426463903,0.71338606911949],"aabb_xy":[[0.5042079844744496,0.7322155439080787],[0.5598980580356638,0.7937845413847021]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.3237245009047906,0.5348175343674662,0.71338606911949],"aabb_xy":[[-0.37372450226567777,0.4848396297920506],[-0.2737244995439033,0.5847954389428818]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.21502054708054896,1.4954436364464523,0.71338606911949],"aabb_xy":[[0.17225384020112877,1.43144363302465],[0.25778725395996915,1.559443639868255]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.5396137718834997,1.4347150746887398,0.71338606911949],"aabb_xy":[[-0.5442488870357329,1.4308477396115908],[-0.5349786567312662,1.4385824097658884]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[0.4633910461263886,1.0842162538061078,0.71338606911949],"aabb_xy":[[0.38339104916334943,1.0071406121623343],[0.5433910430894278,1.1612918954498812]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.2284460753095211,-1.0908846645295076,0.71338606911949],"aabb_xy":[[0.22453220211409858,-1.0996336799360644],[0.23235994850494363,-1.0821356491229508]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.3644818247401902,1.7106205195185038,0.71338606911949],"aabb_xy":[[0.28448182426997426,1.702309811904156],[0.4444818252104062,1.7189312271328525]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.41648378422551935,1.5156485817486778,0.71338606911949],"aabb_xy":[[0.3665107186930039,1.465648581936145],[0.46645684975803486,1.565648581561211]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.1935539538521407,1.1524780290760614,0.71338606911949],"aabb_xy":[[0.1871401402089557,1.1460682088283929],[0.19996776749532558,1.1588878493237296]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.4073985890071685,-2.0168546396666187,0.71338606911949],"aabb_xy":[[0.34339858830369924,-2.06287302213954],[0.47139858971063797,-1.9708362571936981]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[0.4493199855471086,-0.9816879309810533,0.71338606911949],"aabb_xy":[[0.36932616196855045,-1.061687933573895],[0.5293138091256668,-0.9016879283882118]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6549137253250406,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9126.png","name":"9126"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9126.png","name":"9126"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2417.png","name":"2417"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5302.png","name":"5302"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7513.png","name":"7513"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1154.png","name":"1154"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":606.8748368640443,"rotation_z_degrees":262.5615512893156,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014512010000051135,0.0161279569850275,-0.016841640699990227]},{"name":"camera_2","offset_m":[-0.018773283596676297,0.01050450074490103,0.009324990742445305]},{"name":"camera_3","offset_m":[0.018067095396772936,0.008746932922036658,0.0029492903542633238]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010335414912256416,0.0010578991073541214,-0.0007477989363991471],"end_effector_yaw_offset_degrees":-0.33324881317675437},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012415136187504281,0.0015263311475113167,-9.005619223424071e-05],"end_effector_yaw_offset_degrees":0.2361591573521833},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014604657154556602,-0.001746840630783329,-6.730478255487422e-05],"end_effector_yaw_offset_degrees":-0.042292192263900796}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00395471451252308,0.0013895082951845862],"position_m":[0.22125471451252307,-0.018910491704815412,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032782755463827773,-0.00016330578156684497],"position_m":[0.21092172445361723,-0.3791633057815669,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006893399706439382,-0.0016029590551596752],"position_m":[0.21088933997064394,0.2939970409448403,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002923681644780322,0.004823406791208855],"position_m":[0.35150763183552197,0.13672340679120884,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f4b82311e41653d182a8c2be509b0d735381cca7b20e65876efffebd6e8a71f1","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9126/tex_ceiling_textures_1154/tex_floor_textures_7513/tex_table_textures_2417/tex_wall_textures_5302","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":516299802338015890,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":516299802338015890,"visual_seed":516299802338015890,"scene_id":"lab_003","finished_at":"2026-09-04T09:09:07"}
+{"episode_id":"ep_000037","started_at":"2026-09-04T09:09:12","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[0.13953916034975133,-0.8952962511300504,0.71338606911949],"aabb_xy":[[0.06953915695818934,-0.930612024833481],[0.2095391637413133,-0.8599804774266193]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[0.11223662753592933,-1.0269497193646404,0.71338606911949],"aabb_xy":[[0.06223662625208937,-1.0769285737552623],[0.1622366288197693,-0.9769708649740182]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.599326360555211,-0.31835398530071846,0.71338606911949],"aabb_xy":[[0.5911118154395268,-0.32703057559835963],[0.6075409056708948,-0.30967739500307706]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[-0.009987993894651548,-1.336883415993678,0.71338606911949],"aabb_xy":[[-0.03783303067525867,-1.3676679147319895],[0.017857042885955576,-1.306098917255366]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[-0.1425563926747183,-1.5124907612279181,0.71338606911949],"aabb_xy":[[-0.17687266984933628,-1.5624907612010959],[-0.1082401155001004,-1.4624907612547404]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[0.33189375667463605,-2.2712276987217095,0.71338606911949],"aabb_xy":[[0.2818989237466945,-2.321227697616953],[0.3818885896025777,-2.221227699826466]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.28489633850386453,0.9952486939003471,0.71338606911949],"aabb_xy":[[0.2720244350029244,0.915248693486511],[0.2977682420048047,1.0752486943141832]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[-0.08264253698308976,0.4389317640712056,0.71338606911949],"aabb_xy":[[-0.16264253414266505,0.42738416311338856],[-0.0026425398235144643,0.45047936502902264]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.26075790100531926,-1.1981839084138364,0.71338606911949],"aabb_xy":[[0.18075789993219893,-1.2079619547512208],[0.3407579020784396,-1.188405862076452]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.17830980340175773,-2.155593641331854,0.71338606911949],"aabb_xy":[[-0.1870237724516922,-2.1780936419910417],[-0.1695958343518232,-2.1330936406726653]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[-0.5412435321652229,0.9149671100398074,0.71338606911949],"aabb_xy":[[-0.5834279463260535,0.8509671097625962],[-0.49905911800439207,0.9789671103170186]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[0.36512874069576395,0.3818531275870698,0.71338606911949],"aabb_xy":[[0.3504853351417309,0.36719440793028546],[0.3797721462497969,0.396511847243854]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.6201279446281416,-2.522190885876681,0.71338606911949],"aabb_xy":[[-0.6451279445606595,-2.5290735540976046],[-0.5951279446956237,-2.5153082176557575]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.010766572654155704,-0.8692272915301673,0.71338606911949],"aabb_xy":[[0.002773082858873677,-0.8772254234706431],[0.018760062449437735,-0.8612291595896919]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.48786040667835306,-2.129718972253251,0.71338606911949],"aabb_xy":[[-0.5228604065743719,-2.138093207765191],[-0.45286040678233425,-2.1213447367413107]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[0.5913638383200792,0.24860393296971228,0.71338606911949],"aabb_xy":[[0.5263638401641602,0.2223076884198001],[0.6563638364759983,0.2749001775196245]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[-0.13753118149054766,1.681385211754789,0.71338606911949],"aabb_xy":[[-0.18361627274527914,1.6173852145022338],[-0.0914460902358162,1.745385209007344]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[-0.3275864279834277,1.7736622245228904,0.71338606911949],"aabb_xy":[[-0.4075864284536437,1.7653515169085423],[-0.24758642751321175,1.7819729321372388]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.6426123129081006,-1.5751640800753288,0.71338606911949],"aabb_xy":[[-0.6645209950474517,-1.5970647468954196],[-0.6207036307687496,-1.553263413255238]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[0.12833726085847863,-0.5789696828016209,0.71338606911949],"aabb_xy":[[0.11316509157684529,-0.5941385397298242],[0.14350943014011197,-0.5638008258734175]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.013259718939266363,-0.7855762601657184,0.71338606911949],"aabb_xy":[[-0.04158942888780659,-0.7900370023594355],[0.015069991009273864,-0.7811155179720014]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[0.370622090671201,0.525202185729468,0.71338606911949],"aabb_xy":[[0.33562209240108104,0.5181280580344798],[0.40562208894132085,0.5322763134244561]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[-0.5405351507909816,-1.9384121092857287,0.71338606911949],"aabb_xy":[[-0.5905351511515476,-1.9883920964953317],[-0.49053515043041557,-1.8884321220761258]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.52486356989876,-2.4562238581066733,0.71338606911949],"aabb_xy":[[0.4985747455783193,-2.4824952917613246],[0.5511523942192006,-2.429952424452022]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[-0.662494169061744,-0.30995676990903753,0.71338606911949],"aabb_xy":[[-0.6689079827049288,-0.3163665901567058],[-0.6560803554185589,-0.30354694966136914]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[-0.13358400905763912,-2.40403144438535,0.71338606911949],"aabb_xy":[[-0.14238606436661183,-2.411842770540279],[-0.12478195374866642,-2.396220118230421]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[-0.27251132816861395,-1.0483146958838718,0.71338606911949],"aabb_xy":[[-0.3226087921496876,-1.1123146963936834],[-0.22241386418754033,-0.9843146953740598]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_27","position":[0.12868352265337668,-2.529685574961158,0.71338606911949],"aabb_xy":[[0.09869185991950633,-2.5596855742979585],[0.15867518538724698,-2.4996855756243574]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_28","position":[-0.04184035020959054,-0.008959091960325516,0.71338606911949],"aabb_xy":[[-0.07684034940240879,-0.019926137957988144],[-0.006840351016772259,0.0020079540373371136]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_29","position":[0.5482169032577282,1.309985805262715,0.71338606911949],"aabb_xy":[[0.4842169059553818,1.265619378294858],[0.6122169005600746,1.3543522322305714]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_30","position":[-0.4730117067537838,-1.273384667276733,0.71338606911949],"aabb_xy":[[-0.4864582333878271,-1.2868545189298246],[-0.45956518011974046,-1.259914815623642]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_31","position":[0.36015753824745667,1.2781167353674463,0.71338606911949],"aabb_xy":[[0.3188529951837206,1.2141167357993292],[0.4014620813111926,1.3421167349355634]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_32","position":[0.45948721895520706,1.7403488507756006,0.71338606911949],"aabb_xy":[[0.42198721845784876,1.7363801672274821],[0.49698721945256524,1.7443175343237192]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_33","position":[0.2739261538940395,1.717603766877041,0.71338606911949],"aabb_xy":[[0.26783152600592125,1.7090343723253725],[0.2800207817821579,1.72617316142871]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6540376312762499,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6165.png","name":"6165"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6165.png","name":"6165"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4853.png","name":"4853"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3223.png","name":"3223"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3336.png","name":"3336"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1211.png","name":"1211"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":723.9320703970186,"rotation_z_degrees":293.69843282671894,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015093909031696216,-0.016464926952376824,-0.008074336294881688]},{"name":"camera_2","offset_m":[0.010490156483591622,-0.0028579678809725687,-0.002353083493577421]},{"name":"camera_3","offset_m":[-0.012485476332790717,-0.01641608486060954,0.0022065986788229013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003776881126337241,-0.0011635103771341954,-0.001445580839523006],"end_effector_yaw_offset_degrees":-0.6491677159294407},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002467729708186873,-0.000510543107967374,-0.001414815448834534],"end_effector_yaw_offset_degrees":-0.7419593331590424},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001585831550287682,-0.0004874977056131132,0.00034152186987596207],"end_effector_yaw_offset_degrees":0.4731383650136254}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028286333486995325,0.0007058046653533332],"position_m":[0.22012863334869953,-0.019594195334646666,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015545404475731262,0.0038010698542952854],"position_m":[0.21264545955242686,-0.3751989301457047,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001909461535011224,-0.0038281444373972173],"position_m":[0.21210946153501123,0.29177185556260277,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00208711143628952,0.0005442042677365963],"position_m":[0.35388711143628954,0.1324442042677366,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1948c3734cb4b0a38e73528da68caae5e81bc9c2c6f12408ace9242c325e1823","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0037.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6165/tex_ceiling_textures_1211/tex_floor_textures_3336/tex_table_textures_4853/tex_wall_textures_3223","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3751576988079590711,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3751576988079590711,"visual_seed":3751576988079590711,"scene_id":"lab_003","finished_at":"2026-09-04T09:12:06"}
+{"episode_id":"ep_000038","started_at":"2026-09-04T09:12:10","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[-0.45482099282967986,-0.25737608138555323,0.71338606911949],"aabb_xy":[[-0.49045014872963955,-0.29300874814240613],[-0.41919183692972006,-0.22174341462870023]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[-0.43982188034512437,-0.4369173390543435,0.71338606911949],"aabb_xy":[[-0.4998218805965255,-0.4911986640908081],[-0.37982188009372314,-0.3826360140178788]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.2747170519398225,-2.186116376720287,0.71338606911949],"aabb_xy":[[-0.3160215950035585,-2.250116376288404],[-0.2334125088760865,-2.12211637715217]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[0.5013117384196395,-1.648526463366911,0.71338606911949],"aabb_xy":[[0.42131173516179654,-1.7285229711588947],[0.5813117416774825,-1.5685299555749268]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.0894814812010134,-2.3483844396523312,0.71338606911949],"aabb_xy":[[-0.12698147962441375,-2.3615486536201615],[-0.05198148277761304,-2.3352202256845]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[0.46416797388723396,-1.040294363805047,0.71338606911949],"aabb_xy":[[0.414189165376918,-1.0902943638107658],[0.5141467823975499,-0.9902943637993282]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[-0.22752582907428748,-0.5913213422846069,0.71338606911949],"aabb_xy":[[-0.24531933600920394,-0.6091210878804046],[-0.20973232213937107,-0.5735215966888093]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.27122668791067095,1.2573270235214191,0.71338606911949],"aabb_xy":[[-0.32122668957216566,1.207328581265716],[-0.22122668624917616,1.3073254657771214]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[0.34481021173595927,-0.5590057033430429,0.71338606911949],"aabb_xy":[[0.26481020847194614,-0.5725657356519562],[0.4248102149999724,-0.5454456710341296]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[-0.2647759205100896,0.775932643297685,0.71338606911949],"aabb_xy":[[-0.27737861964716604,0.7633372470728195],[-0.2521732213730131,0.7885280395225505]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.3200480766865762,-1.0039109477426456,0.71338606911949],"aabb_xy":[[-0.33759477160269513,-1.0414109493068968],[-0.30250138177045727,-0.9664109461783943]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[0.0223043133968992,-1.645502687936495,0.71338606911949],"aabb_xy":[[0.0034199296283889957,-1.6643886127168477],[0.041188697165409405,-1.6266167631561421]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[0.68761149803074,-0.6135503557429121,0.71338606911949],"aabb_xy":[[0.6757394150192388,-0.6985503554365623],[0.6994835810422411,-0.5285503560492616]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[0.5970101525986184,0.15866366580144842,0.71338606911949],"aabb_xy":[[0.5897663865523731,0.07866366759784604],[0.6042539186448638,0.2386636640050508]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.5426907155617053,-1.0315954738998228,0.71338606911949],"aabb_xy":[[-0.5645804631506461,-1.1215954711890719],[-0.5208009679727645,-0.9415954766105737]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[-0.08089756503260292,-2.000355924158759,0.71338606911949],"aabb_xy":[[-0.0983975652776523,-2.0178557119983256],[-0.06339756478755353,-1.982856136319192]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.4954610940377078,-0.8120331827490666,0.71338606911949],"aabb_xy":[[-0.5594610962581148,-0.8564062668743548],[-0.43146109181730075,-0.7676600986237783]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_17","position":[0.5212438270250117,-1.2089880480311455,0.71338606911949],"aabb_xy":[[0.5132074923237269,-1.2170261673355622],[0.5292801617262965,-1.2009499287267287]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.46054355937537933,-1.4141161079039493,0.71338606911949],"aabb_xy":[[-0.4818215675188515,-1.479116110230022],[-0.439265551231907,-1.349116105577876]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[0.5982593522007982,1.48321137675581,0.71338606911949],"aabb_xy":[[0.5332593521664954,1.4365107000754826],[0.6632593522351009,1.5299120534361372]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[-0.5839184919565782,-1.5207153278704097,0.71338606911949],"aabb_xy":[[-0.6338011888342744,-1.570715327116685],[-0.534035795078882,-1.4707153286241352]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659463832119711,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9079.png","name":"9079"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9079.png","name":"9079"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5366.png","name":"5366"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8739.png","name":"8739"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3127.png","name":"3127"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8125.png","name":"8125"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":605.3240144478503,"rotation_z_degrees":38.455333611061825,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01606503965580597,0.018180426499526534,-0.01808001510225839]},{"name":"camera_2","offset_m":[-0.0013263462947169652,-0.0022157794798226722,0.006852736325225921]},{"name":"camera_3","offset_m":[0.009316228850339791,-0.01721745849195868,0.016749697025293348]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[1.9659315256659315e-05,-0.0005412309235613387,-0.0005957356702507451],"end_effector_yaw_offset_degrees":-0.1342680797238458},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006366292612156514,-0.0018156896234561737,0.0018567954144184276],"end_effector_yaw_offset_degrees":0.8635301359226026},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000491720103453177,0.001512195874203591,0.0017282997630722616],"end_effector_yaw_offset_degrees":0.1361757966204391}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0044126736415302905,-0.003636261212791995],"position_m":[0.21288732635846971,-0.023936261212791993,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004602179248304429,-0.002757444030133983],"position_m":[0.21466021792483045,-0.381757444030134,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004687817510728889,-0.0012470783783476791],"position_m":[0.21488781751072888,0.2943529216216523,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024225480262416287,-0.0002288352118232466],"position_m":[0.34937745197375836,0.13167116478817675,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b879d538151e1cdb91f9a6a3ebfb99ad43ff153da14a7f440d0faaf0ab585313","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9079/tex_ceiling_textures_8125/tex_floor_textures_3127/tex_table_textures_5366/tex_wall_textures_8739","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2810966159626626973,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2810966159626626973,"visual_seed":2810966159626626973,"scene_id":"lab_003","finished_at":"2026-09-04T09:14:58"}
+{"episode_id":"ep_000039","started_at":"2026-09-04T09:15:01","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[-0.5424164266498581,0.3630431203704023,0.71338606911949],"aabb_xy":[[-0.60241642829278,0.3110429710784581],[-0.48241642500693627,0.41504326966234645]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.11401176520419809,-0.9011222420467895,0.71338606911949],"aabb_xy":[[-0.13759688866809294,-0.9661222442922213],[-0.09042664174030324,-0.8361222398013577]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.4647263203851075,1.5062781433273584,0.71338606911949],"aabb_xy":[[0.4397263212194744,1.4993258976220019],[0.48972631955074064,1.513230389032715]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.6393418920873037,0.43765931313458273,0.71338606911949],"aabb_xy":[[0.5743418942056558,0.38653564942804197],[0.7043418899689514,0.4887829768411237]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[0.08065610527510458,-0.9643391743388714,0.71338606911949],"aabb_xy":[[0.05815610476306399,-0.9868310327042698],[0.10315610578714518,-0.941847315973473]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[-0.03721956617495159,1.186079364238009,0.71338606911949],"aabb_xy":[[-0.047631124855435296,1.1807336309021106],[-0.02680800749446787,1.1914250975739074]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.15991060215264563,0.7984134918844794,0.71338606911949],"aabb_xy":[[0.1522074114785686,0.7907041211857415],[0.16761379282672267,0.8061228625832175]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[-0.47041176152904063,1.1529474846585699,0.71338606911949],"aabb_xy":[[-0.5344117606988106,1.1061807975396074],[-0.4064117623592707,1.1997141717775324]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.44279548462556795,0.8099108882126016,0.71338606911949],"aabb_xy":[[0.4202817928021107,0.7399108876115941],[0.4653091764490251,0.8799108888136091]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.17722115541628736,-1.9152299792200966,0.71338606911949],"aabb_xy":[[0.15222115586454887,-1.9253724630852314],[0.20222115496802584,-1.905087495354962]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[0.46563852036421327,-0.8604415579857807,0.71338606911949],"aabb_xy":[[0.420359905483064,-0.9244415573339643],[0.5109171352453625,-0.7964415586375969]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.2537484681126242,-1.4579210429239544,0.71338606911949],"aabb_xy":[[-0.29107974463786684,-1.4925740977188067],[-0.21641719158738162,-1.4232679881291022]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.5004949587606278,-1.597461557607296,0.71338606911949],"aabb_xy":[[0.4950370131236077,-1.6774615609149546],[0.5059529043976478,-1.5174615542996364]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.6735996092555637,1.2180827326232144,0.71338606911949],"aabb_xy":[[-0.6823808364028,1.2093029853346844],[-0.6648183821083277,1.226862479911745]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[-0.13645899032515751,-1.6372235487599565,0.71338606911949],"aabb_xy":[[-0.2164589874847328,-1.6487711497177733],[-0.05645899316558223,-1.6256759478021392]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.5172765073845838,-0.14131590776849778,0.71338606911949],"aabb_xy":[[0.5064249011357083,-0.1521751984961488],[0.5281281136334595,-0.13045661704084677]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.5002919876438594,0.12854549544164717,0.71338606911949],"aabb_xy":[[0.4452919884672699,0.0735558206666895],[0.5552919868204489,0.1835351702166048]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.4360188413352523,1.6438356944869503,0.71338606911949],"aabb_xy":[[-0.46386387811585944,1.6130511957486386],[-0.4081738045546452,1.674620193225262]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[-0.1899493578434619,1.7867524147128715,0.71338606911949],"aabb_xy":[[-0.20310060381475128,1.761752414956185],[-0.17679811187217254,1.811752414469558]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.3787555599248438,-1.8025784961420577,0.71338606911949],"aabb_xy":[[0.2987555612679578,-1.8170833550663206],[0.45875555858172984,-1.7880736372177948]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[-0.20514460796961542,0.7033162940951021,0.71338606911949],"aabb_xy":[[-0.2250356478499557,0.6906604828104054],[-0.18525356808927518,0.715972105379799]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[0.3685805903566466,-1.2242244687072703,0.71338606911949],"aabb_xy":[[0.33173004241965903,-1.261724469530304],[0.40543113829363425,-1.1867244678842366]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.27293575721969454,0.749707271530645,0.71338606911949],"aabb_xy":[[0.26169070164907665,0.7384654738065496],[0.2841808127903123,0.7609490692547402]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[-0.09376973809629618,-2.239947392144041,0.71338606911949],"aabb_xy":[[-0.16376974073288253,-2.260052257139906],[-0.023769735459709826,-2.219842527148175]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[-0.4202862280409504,-2.196809361986114,0.71338606911949],"aabb_xy":[[-0.43796185862954873,-2.2144895782655163],[-0.40261059745235206,-2.179129145706711]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[0.109179380417737,-2.098433227632978,0.71338606911949],"aabb_xy":[[0.01917938368212678,-2.1516166909502723],[0.19917937715334721,-2.0452497643156833]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_26","position":[0.660758791598749,1.5762870330714072,0.71338606911949],"aabb_xy":[[0.605633585969158,1.5162870316301196],[0.7158839972283395,1.6362870345126939]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_27","position":[0.057634312647639074,-0.8952351142485853,0.71338606911949],"aabb_xy":[[0.02013431283060551,-0.8998733255597271],[0.09513431246467263,-0.8905969029374434]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_28","position":[-0.6014647174251291,-0.6001248455168637,0.71338606911949],"aabb_xy":[[-0.6654647181285985,-0.6461432279897849],[-0.5374647167216599,-0.5541064630439428]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556271377385022,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6861.png","name":"6861"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6861.png","name":"6861"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7869.png","name":"7869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/863.png","name":"863"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4750.png","name":"4750"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":823.9837029099435,"rotation_z_degrees":280.2179826070929,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007919041105357513,0.015359872619772025,-0.0066519239172474175]},{"name":"camera_2","offset_m":[0.007317277896536547,0.011834826182377866,-0.01953451917839899]},{"name":"camera_3","offset_m":[0.0069816499530370064,-0.009976807329519742,0.009776893322108134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[6.921306846305406e-05,-0.001120721848129498,-0.0002928799878434605],"end_effector_yaw_offset_degrees":-0.16620503147296706},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002178395198118128,0.0013039302303297236,-0.001467581601000139],"end_effector_yaw_offset_degrees":-0.12229356504775102},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00044506719633909337,-0.00037644030104282936,-0.0011119230604153107],"end_effector_yaw_offset_degrees":0.6543672312601134}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033354127408156053,0.0017480551191398049],"position_m":[0.2206354127408156,-0.018551944880860195,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023591128539625097,-0.00010062559391194915],"position_m":[0.2118408871460375,-0.37910062559391194,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017549374619207567,0.0006084057080727066],"position_m":[0.21195493746192076,0.29620840570807266,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001457823007311463,0.0031836161240281465],"position_m":[0.35034217699268855,0.13508361612402814,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d29c356419f0702be6e888e6c4347446267ac5ed033830688dd14e1af9c7aa04","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0039.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6861/tex_ceiling_textures_4750/tex_floor_textures_5587/tex_table_textures_7869/tex_wall_textures_863","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":4824072873824727485,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":4824072873824727485,"visual_seed":4824072873824727485,"scene_id":"lab_003","finished_at":"2026-09-04T09:17:46"}
+{"episode_id":"ep_000040","started_at":"2026-09-04T09:17:49","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[0.587578036778212,-2.4282877909644105,0.71338606911949],"aabb_xy":[[0.5767375585516971,-2.445474072255059],[0.5984185150047269,-2.411101509673762]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[0.14904156526745183,0.9174078255477429,0.71338606911949],"aabb_xy":[[0.08504156321771986,0.877313342458435],[0.21304156731718385,0.9575023086370509]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[0.16378569759711048,0.7708822394046693,0.71338606911949],"aabb_xy":[[0.15498364228813774,0.7630709132497402],[0.17258775290608316,0.7786935655595983]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.5298893922858059,-1.3722034987204066,0.71338606911949],"aabb_xy":[[-0.6148893907032291,-1.4570777941826913],[-0.44488939386838267,-1.2873292032581214]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.12380870451750503,-1.7211471931277502,0.71338606911949],"aabb_xy":[[0.09880870496576653,-1.731289676992885],[0.1488087040692435,-1.7110047092626155]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[-0.5458440948914876,1.391102386097801,0.71338606911949],"aabb_xy":[[-0.6258440981555007,1.3775423537888876],[-0.4658440916274744,1.4046624184067142]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[-0.2509110333524868,-1.3264571658964956,0.71338606911949],"aabb_xy":[[-0.3159110315084058,-1.3527534104464078],[-0.1859110351965677,-1.3001609213465835]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[0.016247091139219294,-1.1296007498554714,0.71338606911949],"aabb_xy":[[-0.038745159496291655,-1.1846007515987844],[0.07123934177473025,-1.0746007481121589]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[-0.15623928516996155,-1.2062317100722717,0.71338606911949],"aabb_xy":[[-0.1733413631283297,-1.2233385156035415],[-0.1391372072115934,-1.189124904541002]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[-0.3291180788077552,-2.351024480878571,0.71338606911949],"aabb_xy":[[-0.35239992100588646,-2.436024482175799],[-0.3058362366096238,-2.266024479581343]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.3394881036700208,0.7359738421375406,0.71338606911949],"aabb_xy":[[0.3149418880472701,0.7057249455885034],[0.3640343192927715,0.7662227386865775]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.6320658028301455,1.737217051717296,0.71338606911949],"aabb_xy":[[-0.6695658043457772,1.7259902787011507],[-0.5945658013145138,1.7484438247334408]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.14631558542813305,1.058166779951105,0.71338606911949],"aabb_xy":[[-0.2103112828232296,0.9941667816503961],[-0.08231988803303644,1.1221667782518134]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[0.289033479326371,-1.1798403649953424,0.71338606911949],"aabb_xy":[[0.209033482312123,-1.1999749166687537],[0.36903347634061895,-1.1597058133219311]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.4939505050150734,-1.6010559276411684,0.71338606911949],"aabb_xy":[[0.4639829481052477,-1.6310559279390542],[0.5239180619248991,-1.5710559273432827]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.28213456614879656,0.8740981068745568,0.71338606911949],"aabb_xy":[[-0.3292639451506322,0.8100981058301547],[-0.23500518714696084,0.9380981079189586]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[0.1801734076439756,0.6896262368898749,0.71338606911949],"aabb_xy":[[0.14267340782694202,0.6849880255787331],[0.21767340746100913,0.6942644482010167]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[0.6033891276769539,0.9451396743103757,0.71338606911949],"aabb_xy":[[0.5834980877966136,0.9324838630256791],[0.6232801675572941,0.9577954855950728]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[-0.3164758677321092,0.6954831986320422,0.71338606911949],"aabb_xy":[[-0.3258228753144044,0.6811795764143982],[-0.30712886014981394,0.7097868208496863]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[-0.32480115237817686,-2.0451198236488115,0.71338606911949],"aabb_xy":[[-0.3747853880863541,-2.0951198224623067],[-0.27481691666999963,-1.9951198248353155]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[0.18276055902917476,0.6273817819659508,0.71338606911949],"aabb_xy":[[0.15776055986354162,0.6204295362605943],[0.20776055819480785,0.6343340276713074]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[0.6551310026727981,-1.6644852725237866,0.71338606911949],"aabb_xy":[[0.6373374957378817,-1.6822850181195843],[0.6729245096077145,-1.646685526927989]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[0.13098076869195063,-1.5496283885908053,0.71338606911949],"aabb_xy":[[0.12501422975121482,-1.5555895332501692],[0.1369473076326864,-1.5436672439314414]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.32549161945411753,-1.77693715922461,0.71338606911949],"aabb_xy":[[0.26390086023012477,-1.840937157333657],[0.3870823786781104,-1.7129371611155633]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_24","position":[-0.1370636245572322,-0.09757752678955489,0.71338606911949],"aabb_xy":[[-0.14117957466930484,-0.10169308182240039],[-0.1329476744451595,-0.0934619717567094]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_25","position":[-0.42792660335380034,0.7302151402340256,0.71338606911949],"aabb_xy":[[-0.4372202215909508,0.6927151417458917],[-0.41863298511664965,0.7677151387221595]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[-0.3593808656359415,-2.5263307948927385,0.71338606911949],"aabb_xy":[[-0.3768808658809909,-2.543830582732305],[-0.34188086539089213,-2.508831007053171]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_27","position":[-0.28528419311729336,1.672389105187745,0.71338606911949],"aabb_xy":[[-0.3156823042164369,1.6419822031860754],[-0.2548860820181497,1.7027960071894144]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_28","position":[-0.19142559910512047,1.2571995065514598,0.71338606911949],"aabb_xy":[[-0.2192706358857276,1.2264150078131482],[-0.16358056232451335,1.2879840052897715]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_29","position":[0.5382147340308512,0.13971233589393073,0.71338606911949],"aabb_xy":[[0.5205818984373235,0.12208938987830774],[0.5558475696243786,0.15733528190955368]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_30","position":[-0.032962625716367544,-0.8825926586279769,0.71338606911949],"aabb_xy":[[-0.08244304693032634,-0.9465926565408288],[0.016517795497591255,-0.8185926607151252]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_31","position":[0.25839579634292587,-2.332208604715615,0.71338606911949],"aabb_xy":[[0.22248229191793617,-2.36812211293237],[0.29430930076791556,-2.2962950964988607]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_32","position":[-0.4484080119256343,-0.5134360976396057,0.71338606911949],"aabb_xy":[[-0.508408012786447,-0.5648625276460919],[-0.3884080110648215,-0.4620096676331192]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_33","position":[-0.31775688720052964,-1.8605581093457126,0.71338606911949],"aabb_xy":[[-0.3390348953440019,-1.9255581116717855],[-0.2964788790570574,-1.7955581070196394]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556538482500558,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2331.png","name":"2331"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2331.png","name":"2331"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1599.png","name":"1599"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1174.png","name":"1174"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1938.png","name":"1938"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":803.8917170394433,"rotation_z_degrees":184.5283763237286,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004699484026874194,0.01119286495013743,-0.005457195380144228]},{"name":"camera_2","offset_m":[-0.000936160598166088,0.004016129967648628,-0.019705765776515026]},{"name":"camera_3","offset_m":[0.0017717933948374898,0.002611575967230842,0.015800978418314442]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012096364929317961,-0.0015762372465591072,0.001775358206680443],"end_effector_yaw_offset_degrees":-0.42860138670051895},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007471028160512825,0.001730204529414419,0.0018507671102149688],"end_effector_yaw_offset_degrees":-0.4531146870617464},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015786310171880939,0.0004194366471757579,-0.0018849886690432394],"end_effector_yaw_offset_degrees":-0.606191250182524}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000520570424707472,-0.002651720220802124],"position_m":[0.21677942957529253,-0.02295172022080212,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001960961937140433,0.000415514393148444],"position_m":[0.21223903806285957,-0.37858448560685154,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002396532036766117,-0.004872875622740991],"position_m":[0.21259653203676612,0.290727124377259,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035932842515784416,0.0011789509672484018],"position_m":[0.35539328425157846,0.1330789509672484,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b6bf2f3f73e9d554ce434a4b4ef1dd5854e5a54676ddd5032977411532f9047","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2331/tex_ceiling_textures_1938/tex_floor_textures_9944/tex_table_textures_1599/tex_wall_textures_1174","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":7021584782669873390,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":7021584782669873390,"visual_seed":7021584782669873390,"scene_id":"lab_003","finished_at":"2026-09-04T09:20:32"}
+{"episode_id":"ep_000041","started_at":"2026-09-04T09:20:35","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[-0.015650972414318898,0.9340649682344977,0.71338606911949],"aabb_xy":[[-0.02386551753000287,0.9253883779368562],[-0.0074364272986349135,0.9427415585321389]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.6212138588487867,-1.0915512672500916,0.71338606911949],"aabb_xy":[[-0.6580644067857742,-1.1290512680731253],[-0.5843633109117989,-1.0540512664270578]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[-0.23498098556153868,0.3203280890505744,0.71338606911949],"aabb_xy":[[-0.24539254424202236,0.31498235571467587],[-0.22456942688105494,0.32567382238647286]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[0.2240332877098784,1.378933777186019,0.71338606911949],"aabb_xy":[[0.21440165148944879,1.3692964644063101],[0.23366492393030802,1.388571089965728]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.4221929643251797,1.228069209784636,0.71338606911949],"aabb_xy":[[-0.4467391799479304,1.1978203132355987],[-0.39764674870242894,1.2583181063336728]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.6314769542279637,-0.14529827513727112,0.71338606911949],"aabb_xy":[[-0.6485790321863318,-0.16240508066854087],[-0.6143748762695955,-0.12819146960600136]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[0.5118722087784082,1.0645402622257922,0.71338606911949],"aabb_xy":[[0.49429390658946126,1.046965772651687],[0.529450510967355,1.082114751799897]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[0.37467862548209063,1.10091849752998,0.71338606911949],"aabb_xy":[[0.31068292808699405,1.036918499229271],[0.4386743228771872,1.1649184958306884]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[-0.29278649092765446,-1.8303211829378414,0.71338606911949],"aabb_xy":[[-0.3727864889084395,-1.8379227238996931],[-0.21278649294686944,-1.8227196419759892]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[0.413098681111679,-0.7089820402227862,0.71338606911949],"aabb_xy":[[0.4070040532235607,-0.717551434774455],[0.41919330899979734,-0.7004126456711176]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[-0.15624610635126146,1.32238351921105,0.71338606911949],"aabb_xy":[[-0.18124610590299994,1.3122410353459153],[-0.13124610679952298,1.3325260030761847]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[-0.4687843615399345,1.0182239855690964,0.71338606911949],"aabb_xy":[[-0.5187843601858557,0.968304441909634],[-0.4187843628940133,1.0681435292285588]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.30937265709744505,-1.669711438339647,0.71338606911949],"aabb_xy":[[-0.3318374270688501,-1.6922114392185075],[-0.2869078871260399,-1.6472114374607865]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.6194668289930394,-1.1537229123290296,0.71338606911949],"aabb_xy":[[0.5394668320300001,-1.230798553972803],[0.6994668259560785,-1.0766472706852561]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.2530097506348403,-1.0396610099823675,0.71338606911949],"aabb_xy":[[0.2457485030644329,-1.052448020245877],[0.26027099820524774,-1.026873999718858]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.49505790596095545,0.662696618124524,0.71338606911949],"aabb_xy":[[0.44006565532544456,0.6076966163812113],[0.5500501565964664,0.7176966198678368]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[-0.48488345631835783,0.8367709419227674,0.71338606911949],"aabb_xy":[[-0.5023834565634071,0.8192711540832003],[-0.4673834560733084,0.854270729762334]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[-0.15249428053676894,0.4855175956841844,0.71338606911949],"aabb_xy":[[-0.20249428089733498,0.43553760847458134],[-0.10249428017620286,0.5354975828937871]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.4999246214466083,-0.04915289187869565,0.71338606911949],"aabb_xy":[[-0.5799246247106215,-0.06271292418760899],[-0.4199246181825952,-0.0355928595697823]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[-0.4183758495149592,-2.5255720086164692,0.71338606911949],"aabb_xy":[[-0.4483675122488295,-2.5555720079532698],[-0.3883841867810888,-2.4955720092796687]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.22159901808543753,-0.5511680374735572,0.71338606911949],"aabb_xy":[[-0.24350770022478854,-0.573068704293648],[-0.19969033594608646,-0.5292673706534665]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[-0.07286240532525434,-1.885488504990065,0.71338606911949],"aabb_xy":[[-0.08573430882619447,-1.965488505403901],[-0.059990501824314195,-1.8054885045762288]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6603626900906998,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/693.png","name":"693"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/693.png","name":"693"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6976.png","name":"6976"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1268.png","name":"1268"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5654.png","name":"5654"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8818.png","name":"8818"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":849.7995472340866,"rotation_z_degrees":172.58483081933315,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01595457856597508,0.008471336622898843,-0.01910920446718373]},{"name":"camera_2","offset_m":[0.00703504412076145,0.013018482854463605,0.01782141788433299]},{"name":"camera_3","offset_m":[0.002348261585632238,0.01347542475386872,0.012636890611785957]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019552198456933,-0.001477960997581311,-3.340626311267589e-05],"end_effector_yaw_offset_degrees":0.8760578035391127},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005190577308972462,-0.0018019663080529665,-0.0014213935088141217],"end_effector_yaw_offset_degrees":-0.011197229779233764},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001848468635949497,-0.0007645692203530933,-0.0010352723829161591],"end_effector_yaw_offset_degrees":-0.042857345506904565}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003911152749121517,0.0041366664181873595],"position_m":[0.21338884725087848,-0.016163333581812638,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002828268336807673,-0.0009641887299055539],"position_m":[0.21702826833680766,-0.37996418872990556,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007077697431676399,-0.0036667489608803797],"position_m":[0.21090776974316763,0.2919332510391196,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004804077811312858,0.004949681868612073],"position_m":[0.34699592218868713,0.13684968186861207,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c031d5aa75be86de79a18c288010ba95c9a6fe2e08a53bef9d61ab2e984a611","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_693/tex_ceiling_textures_8818/tex_floor_textures_5654/tex_table_textures_6976/tex_wall_textures_1268","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5374439696783336232,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5374439696783336232,"visual_seed":5374439696783336232,"scene_id":"lab_003","finished_at":"2026-09-04T09:23:35"}
+{"episode_id":"ep_000042","started_at":"2026-09-04T09:23:39","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[-0.2768783608402016,-1.9160434848584462,0.71338606911949],"aabb_xy":[[-0.2845026289303799,-1.9236767083949902],[-0.26925409275002343,-1.9084102613219027]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.18442661558880913,-1.2108843938929557,0.71338606911949],"aabb_xy":[[0.159426616423176,-1.2178366395983125],[0.20942661475444221,-1.2039321481875993]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.23107947028632814,-2.499029737298675,0.71338606911949],"aabb_xy":[[0.1610794681548986,-2.52179170292437],[0.3010794724177577,-2.4762677716729793]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.20157137426657662,1.397766016060816,0.71338606911949],"aabb_xy":[[-0.2365713741625955,1.389391780548876],[-0.16657137437055775,1.4061402515727561]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.07074960891409343,-1.6272224572383696,0.71338606911949],"aabb_xy":[[-0.0826823432759215,-1.639604610046229],[-0.058816874552265364,-1.6148403044305102]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.10557566571596,-2.3509955313627793,0.71338606911949],"aabb_xy":[[-0.14307566600813482,-2.355037006763383],[-0.06807566542378517,-2.3469540559621755]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.08032677868946658,-0.930653863635523,0.71338606911949],"aabb_xy":[[-0.1453267796899671,-0.981440228790198],[-0.015326777688966078,-0.8798674984808481]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.47073929648276713,-0.7315859706441004,0.71338606911949],"aabb_xy":[[-0.47886698467608035,-0.7404995790548081],[-0.4626116082894539,-0.7226723622333928]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[-0.18364757936756215,1.0187356693486538,0.71338606911949],"aabb_xy":[[-0.2334643588323969,0.9687356708643504],[-0.1338307999027274,1.0687356678329571]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.25270439296146435,-1.6325779608194142,0.71338606911949],"aabb_xy":[[-0.2772506085842151,-1.6628268573684513],[-0.22815817733871366,-1.6023290642703771]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[0.447141462485221,0.5958479516065176,0.71338606911949],"aabb_xy":[[0.4171739055753954,0.5658479513086319],[0.47710901939504674,0.6258479519044033]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.28490636260780944,-0.6753662462454888,0.71338606911949],"aabb_xy":[[0.27995034242292827,-0.6978662464476105],[0.2898623827926906,-0.6528662460433673]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[0.3502454839378186,0.6295664017846803,0.71338606911949],"aabb_xy":[[0.3277807139664135,0.6070664009058198],[0.37271025390922374,0.6520664026635408]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.17871123317291815,-0.8531542568774568,0.71338606911949],"aabb_xy":[[0.17428060381807797,-0.8586026286121397],[0.18314186252775833,-0.8477058851427745]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[0.04130417473975245,0.946845531151808,0.71338606911949],"aabb_xy":[[-0.022695825534225778,0.8967794309545201],[0.10530417501373068,0.996911631349096]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[0.033640141497477294,1.7568432023753817,0.71338606911949],"aabb_xy":[[-0.030355555897619298,1.692843204074673],[0.09763583889257388,1.8208432006760904]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[0.4618521107312423,0.7938974224760935,0.71338606911949],"aabb_xy":[[0.4462963413209772,0.7783469892316864],[0.4774078801415077,0.8094478557205008]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.6028439605645465,-0.5607592249375992,0.71338606911949],"aabb_xy":[[-0.6528389715239986,-0.610759223973191],[-0.5528489496050946,-0.5107592259020076]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.32198018031573294,0.42180663685602937,0.71338606911949],"aabb_xy":[[0.28698018204561304,0.4147325091610412],[0.35698017858585285,0.42888076455101753]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.5197590834238932,1.147482393974168,0.71338606911949],"aabb_xy":[[-0.5257256223646288,1.1415212493148037],[-0.5137925444831574,1.153443538633532]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.6594519852312433,0.36118337584179994,0.71338606911949],"aabb_xy":[[0.5994519846352271,0.30637090329657646],[0.7194519858272594,0.4159958483870234]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[-0.5331609302071035,0.7321714548542988,0.71338606911949],"aabb_xy":[[-0.5433139457612527,0.6961019132815582],[-0.5230079146529539,0.7682409964270388]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[-0.2772675487499303,0.9666487162595554,0.71338606911949],"aabb_xy":[[-0.28097081007906916,0.9629466979508375],[-0.27356428742079136,0.9703507345682733]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.3217004390139446,-2.449259572397287,0.71338606911949],"aabb_xy":[[-0.3767004372156894,-2.489781539023724],[-0.26670044081219973,-2.408737605770849]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.35728528026884887,1.069473350143038,0.71338606911949],"aabb_xy":[[0.30730647175853293,1.019473350137319],[0.4072640887791647,1.1194733501487566]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_25","position":[0.4470558839680514,-0.49974328795436973,0.71338606911949],"aabb_xy":[[0.3830558837075806,-0.5447520873072976],[0.5110558842285222,-0.45473448860144167]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[0.09968805406620906,-2.2905536846006487,0.71338606911949],"aabb_xy":[[0.03468805310908186,-2.3425018965343543],[0.16468805502333628,-2.238605472666943]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[0.4463512356375563,-0.8290424654120114,0.71338606911949],"aabb_xy":[[0.4393109257040194,-0.909042464811683],[0.4533915455710934,-0.7490424660123401]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[-0.6118770136064654,0.8225611557232644,0.71338606911949],"aabb_xy":[[-0.615790886801888,0.8138121403167076],[-0.6079631404110428,0.8313101711298212]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569474846901617,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6886.png","name":"6886"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6886.png","name":"6886"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2854.png","name":"2854"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8694.png","name":"8694"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7758.png","name":"7758"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7706.png","name":"7706"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":577.3798113016987,"rotation_z_degrees":36.76158266375091,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010878419456845631,0.0012904127389754654,-0.005497819444864738]},{"name":"camera_2","offset_m":[0.011481043242730766,0.003939515603029853,0.014020408788023273]},{"name":"camera_3","offset_m":[-0.0062612944500472344,-0.013836190366765134,-0.009504095866111908]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003425828451839724,-0.0019612864380849026,-0.00013442932037882735],"end_effector_yaw_offset_degrees":-0.3856438258846979},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018796138352483176,0.00011353054643255299,0.0019356110190761602],"end_effector_yaw_offset_degrees":0.08970476002757821},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007219605459804625,-0.0018563979192949339,-0.0006126098223846333],"end_effector_yaw_offset_degrees":-0.8892289866146179}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002321894060439599,0.001108813901864244],"position_m":[0.21962189406043958,-0.019191186098135755,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00419692984968765,-0.004944007963184627],"position_m":[0.21000307015031236,-0.3839440079631846,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002322745521879258,0.0009817283123696686],"position_m":[0.21252274552187925,0.2965817283123696,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004565280367386246,-0.003437208504639682],"position_m":[0.3522565280367386,0.1284627914953603,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"226eb558d7b0fcf48d231f43345a48158813812b556e28e89fc03a722c5888b0","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6886/tex_ceiling_textures_7706/tex_floor_textures_7758/tex_table_textures_2854/tex_wall_textures_8694","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5332774009892189906,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5332774009892189906,"visual_seed":5332774009892189906,"scene_id":"lab_003","finished_at":"2026-09-04T09:26:32"}
+{"episode_id":"ep_000043","started_at":"2026-09-04T09:26:35","dimensions":{"distractor":{"count":30,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[0.3096308838935302,-0.9528086222454106,0.71338606911949],"aabb_xy":[[0.3023871178472849,-1.0328086204490132],[0.31687464993977554,-0.8728086240418084]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.13543555976640198,-1.8342823956771221,0.71338606911949],"aabb_xy":[[-0.1854355607169348,-1.865831542680643],[-0.08543555881586917,-1.8027332486736003]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[-0.1690594256776219,1.1025132629881735,0.71338606911949],"aabb_xy":[[-0.23905942748636733,1.0811594942239862],[-0.09905942386887645,1.123867031752361]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.14940988860820992,-0.7133762278956701,0.71338606911949],"aabb_xy":[[-0.1864439980362696,-0.7477534352293794],[-0.11237577918015018,-0.6789990205619606]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[0.34859291460296893,0.7642895118510009,0.71338606911949],"aabb_xy":[[0.2585929109260507,0.7028571052738964],[0.438592918279887,0.825721918428105]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[0.452003978879727,0.3242396468253901,0.71338606911949],"aabb_xy":[[0.39703025684339416,0.26923964726115696],[0.5069777009160599,0.3792396463896233]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[-0.3308330355616587,-0.8203969210105977,0.71338606911949],"aabb_xy":[[-0.3718509789480296,-0.870396921641555],[-0.28981509217528784,-0.7703969203796404]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[0.6555086886194219,0.3809327374784197,0.71338606911949],"aabb_xy":[[0.6330086881073813,0.3584408791130213],[0.6780086891314625,0.403424595843818]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[-0.08790510026427423,-1.452452311636222,0.71338606911949],"aabb_xy":[[-0.12290509945709246,-1.4634193576338848],[-0.052905101071455934,-1.4414852656385593]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.5906967439334592,0.9264196341303932,0.71338606911949],"aabb_xy":[[-0.6083723745220574,0.9087394178509904],[-0.5730211133448607,0.9440998504097959]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.09376091836178868,0.7422607781852277,0.71338606911949],"aabb_xy":[[-0.17376091634257373,0.7346592372233758],[-0.01376092038100364,0.7498623191470797]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.6242133298255961,0.5303084863285039,0.71338606911949],"aabb_xy":[[0.5342133312311261,0.514057900015083],[0.714213328420066,0.546559072641925]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[-0.12501658227109747,0.09116237205593158,0.71338606911949],"aabb_xy":[[-0.14251658140546464,0.08128274501834376],[-0.1075165831367303,0.10104199909351941]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[0.2609053827204707,1.1688916331608517,0.71338606911949],"aabb_xy":[[0.24484345526195303,1.0838916313482596],[0.2769673101789883,1.2538916349734432]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[-0.5051853828119715,0.6393103257347481,0.71338606911949],"aabb_xy":[[-0.5401853827884672,0.6298457096871315],[-0.4701853828354755,0.6487749417823647]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[-0.6109707455928128,0.5062239217195659,0.71338606911949],"aabb_xy":[[-0.6609655785207544,0.45622392282432234],[-0.5609759126648712,0.5562239206148094]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.3204995019441548,-1.6106517593784986,0.71338606911949],"aabb_xy":[[0.2564995002661574,-1.6591691508578128],[0.38449950362215213,-1.5621343678991844]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.10672874019193068,1.7447856358649187,0.71338606911949],"aabb_xy":[[-0.19672873961030157,1.711410139020729],[-0.016728740773559778,1.7781611327091085]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[0.09268312339330276,1.744303973460863,0.71338606911949],"aabb_xy":[[0.08465685276267677,1.7355524784835104],[0.10070939402392877,1.7530554684382156]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[0.28967371193520197,-1.3508209125757056,0.71338606911949],"aabb_xy":[[0.23967371027370718,-1.400819354831408],[0.3396737135966967,-1.3008224703200026]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[-0.45795331825719954,-1.0760205824469011,0.71338606911949],"aabb_xy":[[-0.5219533189606689,-1.122038964919822],[-0.39395331755373025,-1.03000219997398]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.2168186485292109,-1.4074031609813094,0.71338606911949],"aabb_xy":[[-0.23146205408324386,-1.4220618806380936],[-0.2021752429751779,-1.3927444413245251]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[-0.6056074666301214,-1.5952890744418173,0.71338606911949],"aabb_xy":[[-0.616459072878997,-1.6061483651694686],[-0.5947558603812458,-1.5844297837141665]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[-0.4115648014461498,-0.09556791508040163,0.71338606911949],"aabb_xy":[[-0.43656480099788825,-0.10571039894553635],[-0.3865648018944113,-0.08542543121526691]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[0.6447366862317447,-0.2880010927793153,0.71338606911949],"aabb_xy":[[0.5995653683835759,-0.35200108992385376],[0.6899080040799138,-0.22400109563477694]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[0.07974179169280848,-0.8551006337226299,0.71338606911949],"aabb_xy":[[-0.00025820858079848846,-0.9280501815483466],[0.15974179196641547,-0.7821510858969132]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_26","position":[-0.05088010476471638,0.26332774190776487,0.71338606911949],"aabb_xy":[[-0.058916439466001225,0.2552896226033481],[-0.04284377006343154,0.27136586121218165]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[-0.5917275535810308,-0.8787477463855706,0.71338606911949],"aabb_xy":[[-0.6717275568388738,-0.9587442541775546],[-0.5117275503231878,-0.7987512385935867]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[0.2313611591735356,0.9793009645254829,0.71338606911949],"aabb_xy":[[0.1413611594503614,0.956227611990303],[0.32136115889670974,1.0023743170606627]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_29","position":[0.0735091143687292,-1.9713988834545937,0.71338606911949],"aabb_xy":[[0.04850911520309609,-1.97835112915995],[0.09850911353436231,-1.964446637749237]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556129699477636,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1164.png","name":"1164"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1164.png","name":"1164"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4642.png","name":"4642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1733.png","name":"1733"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1481.png","name":"1481"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5918.png","name":"5918"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":689.5486007599031,"rotation_z_degrees":21.688305923751727,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006917739964880876,-0.005532555021918921,0.009985252747727515]},{"name":"camera_2","offset_m":[0.019273664092560597,-0.011996255884698695,0.0026791401970756128]},{"name":"camera_3","offset_m":[0.010612682443655333,0.013099554426147509,0.009926568243702326]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002162582788510759,-0.0014045195802369396,0.0014481332581518127],"end_effector_yaw_offset_degrees":0.3245869099825327},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004778094163610889,0.00046742267583934315,-9.243698931625847e-05],"end_effector_yaw_offset_degrees":-0.3907765043382989},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016595131286922535,0.00019528968708893172,0.0007982593045054438],"end_effector_yaw_offset_degrees":0.6269173288182726}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002293875626694357,0.0027222430385385275],"position_m":[0.21959387562669436,-0.017577756961461473,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028814874802460554,-0.0008121442510478968],"position_m":[0.21131851251975395,-0.3798121442510479,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009295748650530464,-0.0019321835191659343],"position_m":[0.20927042513494695,0.29366781648083407,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00430929641642622,0.001038760970549806],"position_m":[0.35610929641642625,0.1329387609705498,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bc9246dc3984be3eaaa16e296de9a1bc0bc869a79ebd5906b25e6c048f55219e","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0043.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1164/tex_ceiling_textures_5918/tex_floor_textures_1481/tex_table_textures_4642/tex_wall_textures_1733","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":7451039894256312729,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":7451039894256312729,"visual_seed":7451039894256312729,"scene_id":"lab_003","finished_at":"2026-09-04T09:29:29"}
+{"episode_id":"ep_000044","started_at":"2026-09-04T09:29:32","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.5868263256407923,1.3903837512595398,0.71338606911949],"aabb_xy":[[-0.5927928645815281,1.3844226066001755],[-0.5808597867000564,1.3963448959189038]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.48003361925241816,-2.4671738367010994,0.71338606911949],"aabb_xy":[[-0.530012427762734,-2.5171738367068177],[-0.4300548107421022,-2.41717383669538]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[-0.5125376307430185,-1.9043239153226033,0.71338606911949],"aabb_xy":[[-0.5675376289447632,-1.9448458819490408],[-0.4575376325412736,-1.8638019486961657]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[0.12482755039864746,-1.8642199007310583,0.71338606911949],"aabb_xy":[[0.06985382836231457,-1.9192199002952914],[0.17980127243498034,-1.809219901166825]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[-0.008397129362440747,-1.0566082550711626,0.71338606911949],"aabb_xy":[[-0.058397130381576026,-1.0930744708089908],[0.041602871656694525,-1.020142039333335]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.1906306483662843,-2.5492098991358603,0.71338606911949],"aabb_xy":[[-0.2206223111001546,-2.579209898472661],[-0.16063898563241394,-2.5192098997990597]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[0.19936654606647863,-0.5994934905768057,0.71338606911949],"aabb_xy":[[0.18426424460546048,-0.6145950122078672],[0.21446884752749668,-0.5843919689457435]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[-0.48847941009327567,0.6123392909802097,0.71338606911949],"aabb_xy":[[-0.5356087890951113,0.5483392899358076],[-0.44135003109144,0.6763392920246115]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.6266458835602389,-1.3089063099052798,0.71338606911949],"aabb_xy":[[0.6226853997905046,-1.3165741744908002],[0.6306063673299733,-1.301238445319759]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.1405148921613657,0.5586711787870038,0.71338606911949],"aabb_xy":[[0.10551489385067028,0.5509561638634581],[0.17551489047206117,0.5663861937105494]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.2912975890314676,0.8908989754971826,0.71338606911949],"aabb_xy":[[-0.36129759063374706,0.877466182295525],[-0.2212975874291881,0.9043317686988401]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.2955570499629897,-1.3151238621754409,0.71338606911949],"aabb_xy":[[-0.30165167785110797,-1.3236932567271098],[-0.28946242207487133,-1.3065544676237724]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.48552937019915243,0.05865071812749978,0.71338606911949],"aabb_xy":[[-0.5655293734631656,0.04509068581858644],[-0.4055293669351393,0.07221075043641312]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.16929620179761018,-1.2263567806436715,0.71338606911949],"aabb_xy":[[-0.18216810529855032,-1.3063567810575076],[-0.15642429829667004,-1.1463567802298353]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.17583275756389094,-1.6158581271407506,0.71338606911949],"aabb_xy":[[-0.22100407541205996,-1.6798581242852892],[-0.130661439715722,-1.5518581299962124]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.3249047397225809,-2.2243065240751916,0.71338606911949],"aabb_xy":[[-0.36240473953961444,-2.2289447353863334],[-0.2874047399055473,-2.2196683127640497]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.45876945313526096,-1.6511804303184396,0.71338606911949],"aabb_xy":[[-0.4696099313617758,-1.6683667116090881],[-0.447928974908746,-1.6339941490277907]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[-0.17448107057095052,1.5989020220095393,0.71338606911949],"aabb_xy":[[-0.23448107116696673,1.5440895494643159],[-0.11448106997493437,1.6537144945547628]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.09316869337517875,1.1595570590817585,0.71338606911949],"aabb_xy":[[0.07852528782114576,1.144898339424974],[0.10781209892921173,1.1742157787385425]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.2836997676278469,1.1991995862139988,0.71338606911949],"aabb_xy":[[-0.36369977088568983,1.1192030784220148],[-0.20369976437000392,1.2791960940059828]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6563158690306463,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4789.png","name":"4789"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4789.png","name":"4789"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7665.png","name":"7665"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6813.png","name":"6813"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3337.png","name":"3337"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9461.png","name":"9461"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":646.4201119199672,"rotation_z_degrees":160.36376107742686,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012263126031347972,0.01091789929510301,-0.019873553341471797]},{"name":"camera_2","offset_m":[-0.012423013281073095,0.015121951793743541,0.006426483511912422]},{"name":"camera_3","offset_m":[0.0012594830329999002,-0.0007903151025028428,0.019073253771030727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008613624063887105,-0.0008369912822478436,-0.0017994012517280021],"end_effector_yaw_offset_degrees":-0.938003540282695},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017388546193614005,-0.0008091657579957837,-0.0012929064919380518],"end_effector_yaw_offset_degrees":0.9973126761142503},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001615386538195262,-0.0018328443192692362,0.0014079253971691161],"end_effector_yaw_offset_degrees":0.08697101825960152}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00039609329864167576,-0.003904303704056631],"position_m":[0.2169039067013583,-0.02420430370405663,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002561629729575542,-0.0015751583995163134],"position_m":[0.21163837027042445,-0.38057515839951633,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0040905391435451105,0.0021282775692622654],"position_m":[0.20610946085645487,0.29772827756926223,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004226762756516758,0.0030599179992112898],"position_m":[0.35602676275651673,0.13495991799921128,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9f6ae659570b41f7d1f39be22813152a7789857e9e0212903212faea8d458402","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4789/tex_ceiling_textures_9461/tex_floor_textures_3337/tex_table_textures_7665/tex_wall_textures_6813","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":4169312167565874291,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":4169312167565874291,"visual_seed":4169312167565874291,"scene_id":"lab_003","finished_at":"2026-09-04T09:32:26"}
+{"episode_id":"ep_000045","started_at":"2026-09-04T09:32:29","dimensions":{"distractor":{"count":35,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[0.24282505155252465,-0.8425527077376049,0.71338606911949],"aabb_xy":[[0.2053250500368929,-0.8537794807537499],[0.2803250530681563,-0.8313259347214598]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.1641177464769823,-1.7364234744524714,0.71338606911949],"aabb_xy":[[0.10911774685523645,-1.7914071672399443],[0.21911774609872814,-1.6814397816649989]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[0.6672090614761585,0.4254604782529259,0.71338606911949],"aabb_xy":[[0.6433728438355536,0.33546047744443946],[0.6910452791167637,0.5154604790614125]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[0.21818676842206874,-1.1764653377121033,0.71338606911949],"aabb_xy":[[0.2055599811348724,-1.1860114114136762],[0.2308135557092651,-1.1669192640105304]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.3186752247349245,-1.3287933708533963,0.71338606911949],"aabb_xy":[[0.23867522777188527,-1.4058690124971696],[0.3986752216979636,-1.2517177292096227]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[0.017059908656285816,-0.7613854154992497,0.71338606911949],"aabb_xy":[[-0.03293320345290608,-0.8113854161734454],[0.06705302076547771,-0.711385414825054]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[0.5227105658092144,-0.741940662348709,0.71338606911949],"aabb_xy":[[0.4881194829551691,-0.8069406626337401],[0.5573016486632595,-0.676940662063678]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.030190656104152946,-1.238309229485941,0.71338606911949],"aabb_xy":[[-0.03980934030580884,-1.2587471651376225],[0.10019065251411473,-1.217871293834259]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[-0.5093141916142427,-1.3287865061517818,0.71338606911949],"aabb_xy":[[-0.5593141932757374,-1.3787849484074843],[-0.4593141899527479,-1.278788063896079]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[0.4530393769785992,-0.5302961622388827,0.71338606911949],"aabb_xy":[[0.4280393778129661,-0.5372484079442392],[0.4780393761442323,-0.5233439165335261]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[0.3759244286485932,-0.9793734923033617,0.71338606911949],"aabb_xy":[[0.3556401259251944,-0.9996561174460704],[0.3962087313719919,-0.9590908671606527]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[0.30976097050907425,0.646253583836502,0.71338606911949],"aabb_xy":[[0.2938764772437491,0.6319006435376778],[0.3256454637743994,0.660606524135326]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[-0.5707048234012657,-0.899820607877045,0.71338606911949],"aabb_xy":[[-0.650704821988585,-0.9791362098152057],[-0.4907048248139462,-0.8205050059388839]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.02219773525101354,-1.8822251790213724,0.71338606911949],"aabb_xy":[[-0.105919960751096,-1.9722251825560684],[0.06152449024906892,-1.7922251754866765]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.27335591511514357,1.3882476648770639,0.71338606911949],"aabb_xy":[[0.21335591460729061,1.3314009311911423],[0.33335591562299643,1.445094398562985]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.2805536398513357,1.3210592181404124,0.71338606911949],"aabb_xy":[[-0.36055363783212074,1.3134576771785602],[-0.20055364187055066,1.328660759102264]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.23341588588364903,-0.5662272927486462,0.71338606911949],"aabb_xy":[[-0.2534742974968893,-0.5862923796578037],[-0.21335747427040877,-0.5461622058394886]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.09321578770407268,1.2765437741529087,0.71338606911949],"aabb_xy":[[0.04821578623784384,1.2315439172914282],[0.13821578917030153,1.3215436310143895]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.6183244331737787,-2.203214102088838,0.71338606911949],"aabb_xy":[[-0.6359027353627256,-2.220788591662943],[-0.6007461309848319,-2.185639612514733]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[0.3676692560218766,-1.946080877190162,0.71338606911949],"aabb_xy":[[0.3451692562079742,-1.9505554935606428],[0.39016925583577894,-1.9416062608196814]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[-0.6004897621834248,1.4482637686925472,0.71338606911949],"aabb_xy":[[-0.6704897643148541,1.4255018030668514],[-0.530489760051995,1.4710257343182427]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.6805229302378053,0.2500292102999522,0.71338606911949],"aabb_xy":[[0.6419772374126042,0.21148343924376345],[0.7190686230630062,0.2885749813561408]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[-0.6040809803531623,-1.1620016851453996,0.71338606911949],"aabb_xy":[[-0.6265809808652029,-1.1844935435107977],[-0.5815809798411217,-1.139509826780001]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[-0.28680339742852895,0.46269558886260587,0.71338606911949],"aabb_xy":[[-0.2917026897350924,0.435018669560037],[-0.2819041051219654,0.4903725081651745]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[0.23736813784124544,-1.8911370278485915,0.71338606911949],"aabb_xy":[[0.1823749265041087,-1.9461370281873853],[0.2923613491783822,-1.8361370275097981]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.05570575251667431,-2.2342102677741478,0.71338606911949],"aabb_xy":[[0.037499928855426634,-2.2452356683561394],[0.07391157617792199,-2.223184867192156]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_26","position":[-0.3987861954001519,-0.6522263631174341,0.71338606911949],"aabb_xy":[[-0.45878619565155304,-0.7065076881538987],[-0.3387861951487507,-0.5979450380809694]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[-0.10377200151964538,0.9705898123134848,0.71338606911949],"aabb_xy":[[-0.13754756071033836,0.9565513171003196],[-0.0699964423289524,0.9846283075266496]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_28","position":[-0.17848206676469092,-1.7159653001831598,0.71338606911949],"aabb_xy":[[-0.18451907976535564,-1.7219920012521082],[-0.1724450537640262,-1.709938599114212]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_29","position":[0.09869552584304098,-2.5637019596166057,0.71338606911949],"aabb_xy":[[0.06119552602600742,-2.5683401709277476],[0.13619552566007453,-2.559063748305464]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_30","position":[-0.1540922038341932,0.7849202926938319,0.71338606911949],"aabb_xy":[[-0.15779546516333204,0.7812182743851139],[-0.1503889425050543,0.7886223110025496]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_31","position":[-0.6070156565302421,0.7301348222394499,0.71338606911949],"aabb_xy":[[-0.6187838433248998,0.6451348223342285],[-0.5952474697355847,0.8151348221446717]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_32","position":[0.4388884788312051,0.34836040487283215,0.71338606911949],"aabb_xy":[[0.4237256058542681,0.3331949475777134],[0.45405135180814227,0.3635258621679509]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_33","position":[0.5132522646308728,0.17518294011934765,0.71338606911949],"aabb_xy":[[0.4432522628221274,0.15382917135516028],[0.5832522664396182,0.19653670888353503]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_34","position":[-0.5140222771403335,0.7309004935162409,0.71338606911949],"aabb_xy":[[-0.5217254678144105,0.7231911228175028],[-0.5063190864662566,0.7386098642149788]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6593004580417207,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5990.png","name":"5990"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5990.png","name":"5990"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2760.png","name":"2760"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5593.png","name":"5593"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4909.png","name":"4909"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5097.png","name":"5097"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":692.5491120211555,"rotation_z_degrees":291.24764749620954,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007373200298641521,0.013011974625704217,0.0064673866315818895]},{"name":"camera_2","offset_m":[0.017467767667863465,0.012901783688704187,-0.01616425504426422]},{"name":"camera_3","offset_m":[0.00030574746728949387,-0.011487727401675656,0.0030179920773525555]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017813941142351694,0.0008020682241842358,0.0014990848676760056],"end_effector_yaw_offset_degrees":0.4108554673505165},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006894339160314674,-0.00028124598364209774,-0.0016782754914078483],"end_effector_yaw_offset_degrees":-0.11067856829934763},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006295270248757232,0.0005259074698302662,-0.0011353000109754383],"end_effector_yaw_offset_degrees":-0.13098772856826835}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0039818724155190445,0.001865167925858822],"position_m":[0.21331812758448096,-0.018434832074141178,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008461554842784545,-0.004309929103225671],"position_m":[0.21335384451572154,-0.3833099291032257,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029622705511782067,0.0013038603861788498],"position_m":[0.2072377294488218,0.29690386038617883,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011043694893491714,-0.0007264670073105209],"position_m":[0.35290436948934917,0.13117353299268947,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"07538b5ae7492b6d4f1046c6dbc49635859b6b38d77562e674f784d0413dbfbe","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5990/tex_ceiling_textures_5097/tex_floor_textures_4909/tex_table_textures_2760/tex_wall_textures_5593","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5884345114987397557,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5884345114987397557,"visual_seed":5884345114987397557,"scene_id":"lab_003","finished_at":"2026-09-04T09:35:14"}
+{"episode_id":"ep_000046","started_at":"2026-09-04T09:35:18","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[-0.55188168607687,0.2171420588569246,0.71338606911949],"aabb_xy":[[-0.6095121549641408,0.157142059930214],[-0.4942512171895991,0.27714205778363515]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[-0.3535544470122763,1.0563407340792206,0.71338606911949],"aabb_xy":[[-0.391054448197069,1.0519225113831596],[-0.31605444582748343,1.0607589567752806]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.4158493566223915,-2.1244684644303495,0.71338606911949],"aabb_xy":[[-0.49584935363663946,-2.144603016103761],[-0.3358493596081435,-2.104333912756938]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[-0.6369679396301599,-1.306246777327106,0.71338606911949],"aabb_xy":[[-0.6869679405806927,-1.3377959243306272],[-0.586967938679627,-1.2746976303235844]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.48848359234786265,-1.2644232656668102,0.71338606911949],"aabb_xy":[[-0.5234835915406808,-1.2753903116644727],[-0.4534835931550443,-1.2534562196691477]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[0.06362011090013775,-0.8134293261184882,0.71338606911949],"aabb_xy":[[0.03862011162817546,-0.8297746897146503],[0.08862011017210002,-0.7970839625223256]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[0.09696907798543641,-0.7190495576746487,0.71338606911949],"aabb_xy":[[0.07929344739683807,-0.7367297739540514],[0.11464470857403473,-0.7013693413952459]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[0.43804317242315527,-1.3839331023553887,0.71338606911949],"aabb_xy":[[0.3580431721495483,-1.4568826501811052],[0.5180431726967623,-1.3109835545296717]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.5256664264687829,-0.8256523076681572,0.71338606911949],"aabb_xy":[[0.490666426572764,-0.8340265431800971],[0.5606664263648017,-0.8172780721562172]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.30358141141746553,-1.4308055503349313,0.71338606911949],"aabb_xy":[[-0.3155141457792936,-1.4431877031427909],[-0.29164867705563746,-1.4184233975270721]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[-0.23707383745935529,-1.9262229836357028,0.71338606911949],"aabb_xy":[[-0.24448629300074376,-1.9320741940573307],[-0.2296613819179668,-1.9203717732140748]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[-0.5249288682698195,-1.6735450372065972,0.71338606911949],"aabb_xy":[[-0.5424288685148688,-1.691044825046164],[-0.50742886802477,-1.6560452493670303]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[0.34654352835726776,0.6369699652295142,0.71338606911949],"aabb_xy":[[0.29654352669577294,0.5869715229738114],[0.39654353001876247,0.6869684074852168]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.3156360215593478,-1.3078217086433948,0.71338606911949],"aabb_xy":[[-0.36563085448728944,-1.3578217075386383],[-0.26564118863140623,-1.2578217097481512]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.5415365056213898,-1.0177221898447661,0.71338606911949],"aabb_xy":[[-0.5783870535583774,-1.0552221906677999],[-0.5046859576844022,-0.9802221890217324]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.29330841671284813,-1.9274579482478083,0.71338606911949],"aabb_xy":[[0.2583084184021527,-1.9351729631713537],[0.3283084150235436,-1.9197429333242624]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.5293446956547734,-1.694167470503607,0.71338606911949],"aabb_xy":[[0.465344693976776,-1.7426848619829212],[0.5933446973327707,-1.6456500790242927]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[0.49703311311450227,0.2666961703232129,0.71338606911949],"aabb_xy":[[0.4882310578055295,0.2588848441682838],[0.5058351684234749,0.27450749647814193]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.3368351844481253,-0.4990684835489039,0.71338606911949],"aabb_xy":[[-0.3414702996003587,-0.5029358186260524],[-0.33220006929589196,-0.4952011484717551]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[0.2500258895412263,-0.9167370104886112,0.71338606911949],"aabb_xy":[[0.21556354214308446,-0.9512308928864337],[0.28448823693936803,-0.8822431280907883]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.5954525566672648,-0.7712300155683789,0.71338606911949],"aabb_xy":[[-0.67545255382684,-0.7827776165261958],[-0.5154525595076894,-0.7596824146105617]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.311554059670169,-1.6721718880841303,0.71338606911949],"aabb_xy":[[-0.3615471717793609,-1.7221718887583266],[-0.26156094756097714,-1.6221718874099353]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[-0.3528594793624216,-0.03829302697696102,0.71338606911949],"aabb_xy":[[-0.360853467940125,-0.046293107072051365],[-0.34486549078471823,-0.030292946881870675]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.4817449680309329,1.1763154257439519,0.71338606911949],"aabb_xy":[[-0.5042441037571599,1.153815424965689],[-0.4592458323047059,1.1988154265222148]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[-0.5308908382543452,0.4906955959086523,0.71338606911949],"aabb_xy":[[-0.5620377570979282,0.4206955972218451],[-0.499743919410762,0.5606955945954595]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.08210401049834948,1.2709703314518181,0.71338606911949],"aabb_xy":[[-0.14610401120181885,1.2249519489788971],[-0.01810400979488014,1.3169887139247392]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_26","position":[0.42227123314468074,1.3506976048550854,0.71338606911949],"aabb_xy":[[0.3622712315017589,1.2986974555631414],[0.4822712347876026,1.4026977541470298]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_27","position":[-0.15349640555940325,0.956493911293633,0.71338606911949],"aabb_xy":[[-0.1709964058187399,0.9424023691048605],[-0.13599640530006665,0.9705854534824058]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_28","position":[-0.6214437024209336,-0.04896459645033602,0.71338606911949],"aabb_xy":[[-0.6375056298794513,-0.1339645982629278],[-0.605381774962416,0.03603540536225579]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[-0.23293261333785475,-0.3384271058168933,0.71338606911949],"aabb_xy":[[-0.28281531021555095,-0.3884271050631681],[-0.18304991646015856,-0.28842710657061854]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_30","position":[0.2022371580344795,-0.6746490197534813,0.71338606911949],"aabb_xy":[[0.19066817728754293,-0.6996490198704131],[0.21380613878141608,-0.6496490196365496]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_31","position":[-0.5010663389841817,-1.5202504722447783,0.71338606911949],"aabb_xy":[[-0.5108223284933555,-1.5300130063040125],[-0.49131034947500773,-1.5104879381855436]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_32","position":[-0.2477784840045109,-2.3800287445582033,0.71338606911949],"aabb_xy":[[-0.3117784804318328,-2.4271983683803002],[-0.183778487577189,-2.3328591207361074]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_33","position":[0.4948514311448369,-1.1674064614776962,0.71338606911949],"aabb_xy":[[0.48613746209490233,-1.189906462136884],[0.5035654001947713,-1.1449064608185076]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_34","position":[-0.03888574411313739,0.9602299010830584,0.71338606911949],"aabb_xy":[[-0.08013455514305211,0.9052299015708408],[0.002363066916777345,1.0152299005952756]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561242205039869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2789.png","name":"2789"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2789.png","name":"2789"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6490.png","name":"6490"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9530.png","name":"9530"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3175.png","name":"3175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7867.png","name":"7867"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":737.4979899621698,"rotation_z_degrees":319.2275234303372,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018007190693594282,0.008886237803333152,-0.0021383328646624594]},{"name":"camera_2","offset_m":[0.006238642083796559,0.004953065999572622,-0.010559958433952478]},{"name":"camera_3","offset_m":[-0.009041150649955303,-0.01999124757299819,0.0019097902534016414]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013514681569099492,-0.0015955483362422869,-0.0007595312128647507],"end_effector_yaw_offset_degrees":-0.19510331080602072},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007200138087597781,0.0007045795952712059,-0.0014496988175321315],"end_effector_yaw_offset_degrees":-0.3133593843978817},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009384330214464664,0.0005148810364981309,-0.0004909692004556882],"end_effector_yaw_offset_degrees":-0.05382498662275692}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0030381645567479753,0.0021222363685165606],"position_m":[0.21426183544325203,-0.018177763631483438,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003925092289706937,-0.003154595493737633],"position_m":[0.21027490771029306,-0.38215459549373765,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003377763463104991,-0.0015958088991845885],"position_m":[0.2098622236536895,0.2940041911008154,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022750717951861166,-0.0030490374187396485],"position_m":[0.3495249282048139,0.12885096258126033,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"15fedd2fb6c3e4c1a382e1f895f964663d3d2960c9ef6d3b2b7a5c2566a0603b","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0046.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2789/tex_ceiling_textures_7867/tex_floor_textures_3175/tex_table_textures_6490/tex_wall_textures_9530","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":7333788905407908052,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":7333788905407908052,"visual_seed":7333788905407908052,"scene_id":"lab_003","finished_at":"2026-09-04T09:38:25"}
+{"episode_id":"ep_000047","started_at":"2026-09-04T09:38:28","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.6195360021189333,0.6498632355113609,0.71338606911949],"aabb_xy":[[-0.6338704272450968,0.6378030199568221],[-0.6052015769927699,0.6619234510658998]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[-0.19647275542164339,-2.0448986050359994,0.71338606911949],"aabb_xy":[[-0.22893445630357082,-2.0750314371509013],[-0.1640110545397159,-2.0147657729210957]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.04121792479010944,-1.0746761232077162,0.71338606911949],"aabb_xy":[[-0.04763173843329437,-1.0810859434553843],[-0.03480411114692449,-1.0682663029600477]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.04652007949365711,-1.7271835283063965,0.71338606911949],"aabb_xy":[[-0.11652008162508665,-1.749945493932092],[0.02347992263777244,-1.7044215626807007]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[0.6055176418868953,1.0721982073340461,0.71338606911949],"aabb_xy":[[0.5961706343046,1.057894585116402],[0.6148646494691905,1.0865018295516902]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.030495722198690567,0.43441276333319045,0.71338606911949],"aabb_xy":[[-0.052995722710731163,0.41192090496779205],[-0.00799572168664997,0.45690462169858875]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.4406217702619377,-1.8753756540313002,0.71338606911949],"aabb_xy":[[0.43412013375393316,-1.8851434760576102],[0.4471234067699424,-1.8656078320049907]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[-0.007282638505249905,0.7188150280259626,0.71338606911949],"aabb_xy":[[-0.01818841459281262,0.6388150316271335],[0.0036231375823128076,0.7988150244247918]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[-0.36659649169837294,0.5827966917510334,0.71338606911949],"aabb_xy":[[-0.3762281279188026,0.5731593789713245],[-0.3569648554779434,0.5924340045307424]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[0.13791734698050162,1.16334211451457,0.71338606911949],"aabb_xy":[[0.08792423487130975,1.1133421138403745],[0.18791045908969356,1.2133421151887658]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[-0.3776604481747992,0.12847725473784566,0.71338606911949],"aabb_xy":[[-0.44266044820910194,0.08177657805751837],[-0.3126604481404965,0.17517793141817295]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[-0.24455792399270188,-2.4885525433429403,0.71338606911949],"aabb_xy":[[-0.26814304745659673,-2.553552545588372],[-0.22097280052880702,-2.4235525410975085]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[0.34437981993750744,0.48150647230360377,0.71338606911949],"aabb_xy":[[0.2543798234366356,0.4355948298851454],[0.43437981643837914,0.5274181147220618]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[0.4126213951739204,1.0628374088238095,0.71338606911949],"aabb_xy":[[0.3626481011706598,1.012837408269262],[0.4625946891771807,1.1128374093783566]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.5676191368631107,0.16820426276172107,0.71338606911949],"aabb_xy":[[0.5627755421018807,0.16335261028273698],[0.5724627316243407,0.1730559152407052]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[0.5957336452683333,0.39848297115897857,0.71338606911949],"aabb_xy":[[0.5057336466738634,0.3822323848455576],[0.6857336438628033,0.41473355747239965]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.17470001696200854,1.0249691205703937,0.71338606911949],"aabb_xy":[[-0.18028168859613727,1.0124691207526182],[-0.16911834532787975,1.0374691203881692]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.29627719419272447,-1.8609963295701692,0.71338606911949],"aabb_xy":[[0.20627719477435358,-1.894371826414359],[0.38627719361109536,-1.8276208327259795]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.006867343380257185,1.023835458507476,0.71338606911949],"aabb_xy":[[-0.07186734193733002,0.9940829250935932],[0.05813265517681565,1.0535879919213584]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[-0.5793966678813908,-1.8389717317349779,0.71338606911949],"aabb_xy":[[-0.5906417234520085,-1.8502135294590731],[-0.5681516123107728,-1.8277299340108826]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.013039901704254175,1.3556238069223068,0.71338606911949],"aabb_xy":[[-0.01560943065616205,1.3269782476452308],[0.0416892340646704,1.3842693661993823]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[-0.004062410928303173,-0.7081928213960302,0.71338606911949],"aabb_xy":[[-0.03906240923899862,-0.715907836319576],[0.030937587382392273,-0.7004778064724847]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[0.5490576805751428,1.2047667893865803,0.71338606911949],"aabb_xy":[[0.5444225654229093,1.2008994543094313],[0.5536927957273761,1.2086341244637289]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[-0.3441811774643165,-0.6089821447846988,0.71338606911949],"aabb_xy":[[-0.4081811788723071,-0.6607710963086234],[-0.28018117605632575,-0.557193193260774]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_24","position":[0.17518022328779137,1.4480219703787447,0.71338606911949],"aabb_xy":[[0.09145799778770891,1.3580219668440485],[0.25890244878787383,1.5380219739134404]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_25","position":[-0.4583800689952961,-1.2235004477317835,0.71338606911949],"aabb_xy":[[-0.5433800676873708,-1.2554863111266625],[-0.3733800703032214,-1.1915145843369048]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[0.009861535168226077,-2.50163959971026,0.71338606911949],"aabb_xy":[[-0.05513846298769298,-2.5279358442601723],[0.07486153332414514,-2.475343355160348]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_27","position":[-0.17056135967253006,-0.0855007928195124,0.71338606911949],"aabb_xy":[[-0.2055613596490259,-0.09496540886712901],[-0.13556135969603422,-0.07603617677189578]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[-0.3643936000521866,-2.402305755703648,0.71338606911949],"aabb_xy":[[-0.37163736609843184,-2.48230575390725],[-0.3571498340059412,-2.3223057575000454]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_29","position":[0.0873002295723333,-1.8562822137176562,0.71338606911949],"aabb_xy":[[0.03732142106201741,-1.9062822137233748],[0.13727903808264919,-1.8062822137119372]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_30","position":[0.688817956023615,0.10052547643125331,0.71338606911949],"aabb_xy":[[0.6786649404694656,0.06445593485851295],[0.6989709715777643,0.1365950180039936]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_31","position":[-0.07909087678432669,1.3155730686585656,0.71338606911949],"aabb_xy":[[-0.09155823489406234,1.303107744025242],[-0.06662351867459104,1.328038393291889]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582849997403609,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4870.png","name":"4870"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4870.png","name":"4870"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3653.png","name":"3653"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6337.png","name":"6337"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2954.png","name":"2954"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7477.png","name":"7477"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":630.4315054928119,"rotation_z_degrees":103.11344193407687,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0039889407786087815,-0.012471297271961067,-0.01929520892819607]},{"name":"camera_2","offset_m":[-0.008047248091841439,-0.019697745140662463,0.015637245911492837]},{"name":"camera_3","offset_m":[-0.008197158613595082,-0.00419704698594189,0.009041588303157141]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004896597945429067,-0.0008978012650234187,0.00015641250811508677],"end_effector_yaw_offset_degrees":-0.420155645548125},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007014623099095138,0.0006936871852195815,-0.00017134952915106314],"end_effector_yaw_offset_degrees":-0.9449917062025837},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012859343222932727,0.0015270953189576507,0.001409892816819012],"end_effector_yaw_offset_degrees":0.14167747959162447}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002230140690327166,-0.0009623558452384415],"position_m":[0.21506985930967282,-0.02126235584523844,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018429438658862643,-0.003958159129425754],"position_m":[0.21235705613411374,-0.38295815912942577,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00148831047155109,-0.002891497851506546],"position_m":[0.2087116895284489,0.2927085021484934,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004169715164880033,6.96058238998376e-08],"position_m":[0.34763028483512,0.1319000696058239,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aea3ed0e1319139e884c0f497e0c7dd5f83aa759ebc8e657c8ea63a918776a25","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4870/tex_ceiling_textures_7477/tex_floor_textures_2954/tex_table_textures_3653/tex_wall_textures_6337","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2111262416236787027,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2111262416236787027,"visual_seed":2111262416236787027,"scene_id":"lab_003","finished_at":"2026-09-04T09:41:21"}
+{"episode_id":"ep_000048","started_at":"2026-09-04T09:41:24","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[-0.06820325845870889,-2.48047187157255,0.71338606911949],"aabb_xy":[[-0.08013599282053696,-2.492854024380409],[-0.056270524096880825,-2.4680897187646904]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[-0.49878808858802326,-0.04277481949438844,0.71338606911949],"aabb_xy":[[-0.533788086858143,-0.0498489471893766],[-0.46378809031790325,-0.035700691799400275]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.46219991435266206,1.4758763699637307,0.71338606911949],"aabb_xy":[[0.41221696416518266,1.4258763703211699],[0.5121828645401413,1.5258763696062907]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.26539435378795223,-2.281033367977276,0.71338606911949],"aabb_xy":[[-0.34539435595071466,-2.3609885516034197],[-0.1853943516251897,-2.2010781843511324]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[0.011746337264009976,1.431964677782322,0.71338606911949],"aabb_xy":[[-0.033253664202218876,1.3869648209208414],[0.056746338730238835,1.4769645346438027]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[-0.3464760715065863,-1.2650238552947115,0.71338606911949],"aabb_xy":[[-0.4114760700636592,-1.2947763887085941],[-0.28147607294951354,-1.2352713218808289]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.40329527469352877,0.7866788785704126,0.71338606911949],"aabb_xy":[[0.39387780012366597,0.7772627014326936],[0.41271274926339147,0.7960950557081317]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.40093956216605064,-0.9310558188635176,0.71338606911949],"aabb_xy":[[-0.4347151213567436,-0.9450943140766827],[-0.3671640029753577,-0.9170173236503526]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.1528540147308015,1.8200479993325547,0.71338606911949],"aabb_xy":[[-0.16548080201799786,1.8105019256309818],[-0.14022722744360516,1.8295940730341276]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[0.11602170872669615,0.828244787286899,0.71338606911949],"aabb_xy":[[0.09781588506544847,0.8172193867049073],[0.13422753238794383,0.8392701878688906]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.1796672565796522,-0.7082385358383811,0.71338606911949],"aabb_xy":[[-0.23466725620139806,-0.7632222286258539],[-0.12466725695790637,-0.6532548430509084]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.09367667636100041,-1.5343603830905537,0.71338606911949],"aabb_xy":[[0.052427865331085684,-1.589360382602771],[0.13492548739091514,-1.479360383578336]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[0.5572729481301646,-0.18099818685606728,0.71338606911949],"aabb_xy":[[0.46758587182204914,-0.2709981871105178],[0.64696002443828,-0.09099818660161674]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.009957727447699516,-0.7409970390299192,0.71338606911949],"aabb_xy":[[-0.050042274195222336,-0.7929971883218635],[0.06995772909062137,-0.6889968897379751]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.4981731004413794,-0.787872637524927,0.71338606911949],"aabb_xy":[[-0.5063876455570633,-0.7965492278225682],[-0.4899585553256954,-0.7791960472272855]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.4584501580856869,0.3157042223651061,0.71338606911949],"aabb_xy":[[-0.4763192658401424,0.30187131438789516],[-0.4405810503312314,0.329537130342317]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.505941532067942,1.277235406501723,0.71338606911949],"aabb_xy":[[-0.5099020158376764,1.2695675419162025],[-0.5019810482982077,1.2849032710872437]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.22822901942562474,0.9442937117583754,0.71338606911949],"aabb_xy":[[-0.27535839842746035,0.8802937107139732],[-0.18109964042378904,1.0082937128027771]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.17728472808871365,-1.1748839726647304,0.71338606911949],"aabb_xy":[[-0.21478472819430658,-1.1817061345177113],[-0.13978472798312067,-1.168061810811749]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.573801482273722,-2.302601486407466,0.71338606911949],"aabb_xy":[[-0.5913014815518088,-2.3199395864738115],[-0.5563014829956351,-2.2852633863411196]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[0.6438337086868402,-1.7432787155544534,0.71338606911949],"aabb_xy":[[0.6364212531454516,-1.7491299259760813],[0.6512461642282286,-1.7374275051328254]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.2551213251996868,-0.463841069735377,0.71338606911949],"aabb_xy":[[-0.27639933334315897,-0.52884107206145],[-0.23384331705621447,-0.3988410674093039]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[-0.3283022655993782,-1.457527096212823,0.71338606911949],"aabb_xy":[[-0.41202449109946065,-1.5475270997475192],[-0.24458004009929574,-1.3675270926781273]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[-0.35243976612042666,1.6108868600833852,0.71338606911949],"aabb_xy":[[-0.3899397669124221,1.604519019125195],[-0.3149397653284312,1.6172547010415754]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[0.68267664609002,0.0928857788219486,0.71338606911949],"aabb_xy":[[0.6733830278528693,0.05538578033381468],[0.6919702643271705,0.1303857773100825]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615534704258695,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5306.png","name":"5306"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5306.png","name":"5306"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1621.png","name":"1621"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3188.png","name":"3188"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5553.png","name":"5553"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":632.885200473864,"rotation_z_degrees":150.4647156537339,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009032335465432003,-0.0041845480665669635,-0.0028132500274824154]},{"name":"camera_2","offset_m":[-0.012076407849037456,-0.014408973169882917,-0.00039880600869063657]},{"name":"camera_3","offset_m":[-0.009495621605797365,0.009516906951019952,-0.0168441401901782]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005857394449964616,-0.0002557769619176513,0.0013998066899170158],"end_effector_yaw_offset_degrees":0.6980493142560025},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00047432653867561124,0.0007026192101536933,-0.0019173984922929814],"end_effector_yaw_offset_degrees":-0.4338339578186796},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012409760701465452,-0.001514331923499323,0.0005189998681638624],"end_effector_yaw_offset_degrees":-0.727865076025983}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0030472952602623405,-0.004543359533652369],"position_m":[0.21425270473973765,-0.024843359533652368,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021491003006664676,-0.003988270570898713],"position_m":[0.21634910030066648,-0.38298827057089874,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003574155141177796,0.001061539761256872],"position_m":[0.2066258448588222,0.29666153976125686,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.549801128337464e-05,0.0004659542816952888],"position_m":[0.35187549801128337,0.13236595428169529,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7521ca836b2e4c06a7abd554b4e3d225c446ef42cf33e40e59d5087b8fc61d4c","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5306/tex_ceiling_textures_5553/tex_floor_textures_3393/tex_table_textures_1621/tex_wall_textures_3188","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8990784135200444449,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8990784135200444449,"visual_seed":8990784135200444449,"scene_id":"lab_003","finished_at":"2026-09-04T09:44:18"}
+{"episode_id":"ep_000049","started_at":"2026-09-04T09:44:21","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.3986295151213394,-1.2523075344172452,0.71338606911949],"aabb_xy":[[-0.4164230220562558,-1.270107280013043],[-0.38083600818642294,-1.2345077888214477]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[-0.1855001904297391,-2.0295908885890137,0.71338606911949],"aabb_xy":[[-0.19627316435110687,-2.0645908868080527],[-0.1747272165083713,-1.9945908903699747]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[0.6280137674198647,1.7850529528403611,0.71338606911949],"aabb_xy":[[0.5976156563207211,1.7546460508386914],[0.6584118785190083,1.8154598548420304]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.6114642761519449,-2.324705858896382,0.71338606911949],"aabb_xy":[[0.6050504625087598,-2.33111567914405],[0.6178780897951297,-2.3182960386487137]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.326143074559838,1.386107088826889,0.71338606911949],"aabb_xy":[[-0.36114307453633376,1.3766424727792723],[-0.2911430745833421,1.3955717048745055]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[-0.4623122682021428,0.24648201049859297,0.71338606911949],"aabb_xy":[[-0.4873122673677759,0.23952976479323643],[-0.43731226903650966,0.25343425620394955]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[-0.18281850743566053,0.3919175906231489,0.71338606911949],"aabb_xy":[[-0.20031850657002767,0.3820379635855611],[-0.16531850830129333,0.4017972176607367]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[-0.6320254764122065,-0.7808413399516869,0.71338606911949],"aabb_xy":[[-0.6820042849225224,-0.8308413399574057],[-0.5820466679018906,-0.7308413399459681]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.20935783826674104,1.3561515792564132,0.71338606911949],"aabb_xy":[[-0.2268578375448279,1.3388134791900674],[-0.19185783898865416,1.3734896793227593]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[0.4463619745051792,-0.05316668195585983,0.71338606911949],"aabb_xy":[[0.40886197415695136,-0.06495807753694338],[0.4838619748534069,-0.041375286374776284]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.1278783037327208,0.9709130071770198,0.71338606911949],"aabb_xy":[[0.09037830344054601,0.966871531776416],[0.16537830402489564,0.9749544825776233]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[-0.017349732581590116,-0.7310772755236916,0.71338606911949],"aabb_xy":[[-0.025564277697274092,-0.7397538658213327],[-0.009135187465906134,-0.72240068522605]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[-0.47398366831424527,0.528947339505843,0.71338606911949],"aabb_xy":[[-0.47956533994837397,0.5164473396880674],[-0.46840199668011645,0.5414473393236184]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[0.5535527097160176,0.11041202363349134,0.71338606911949],"aabb_xy":[[0.5165186002879577,0.07603481629978188],[0.5905868191440772,0.14478923096720075]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.48022116970289686,-1.365140914116279,0.71338606911949],"aabb_xy":[[0.4302481041703815,-1.4151409139288118],[0.5301942352354124,-1.315140914303746]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[-0.5104840030589918,0.14110783864775822,0.71338606911949],"aabb_xy":[[-0.5473345509959794,0.10360783782472452],[-0.47363345512200417,0.17860783947079198]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[-0.04235048765716787,-0.9755540986876354,0.71338606911949],"aabb_xy":[[-0.06481525762857299,-0.9980540995664959],[-0.01988571768576275,-0.9530540978087749]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[0.05493366063716221,1.4139405674024732,0.71338606911949],"aabb_xy":[[0.042061757136222074,1.333940566988637],[0.06780556413810235,1.4939405678163094]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[-0.4374298696499483,-0.25274722859483933,0.71338606911949],"aabb_xy":[[-0.44113313097908713,-0.25644924690355714],[-0.43372660832080945,-0.24904521028612145]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.08966643910195649,-2.49990531770049,0.71338606911949],"aabb_xy":[[-0.13914686031591528,-2.563905315613342],[-0.040186017887997694,-2.435905319787638]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[0.2413713432802611,-2.070617882749887,0.71338606911949],"aabb_xy":[[0.22225903592228222,-2.089752661627129],[0.26048365063823997,-2.051483103872645]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[-0.2895364934858277,1.6474989518117371,0.71338606911949],"aabb_xy":[[-0.33953649484671494,1.5975210472363213],[-0.23953649212494052,1.6974768563871525]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[0.6544110867366517,0.6958467742169123,0.71338606911949],"aabb_xy":[[0.6385265934713266,0.6814938339180883],[0.6702955800019769,0.7101997145157364]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[-0.46895196644616305,-2.403091312737173,0.71338606911949],"aabb_xy":[[-0.4934655905431689,-2.42735590603921],[-0.4444383423491572,-2.378826719435137]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_24","position":[-0.503698332661347,0.655509365504547,0.71338606911949],"aabb_xy":[[-0.5123962949520623,0.6433843911970722],[-0.4950003703706317,0.6676343398120217]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[0.6832992403810778,-0.20609068750073556,0.71338606911949],"aabb_xy":[[0.6654301326266224,-0.2199235954779465],[0.7011683481355334,-0.19225777952352463]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[0.5983483845742297,-0.3772108993253629,0.71338606911949],"aabb_xy":[[0.5083483851558587,-0.4105863961695526],[0.6883483839926005,-0.34383540248117317]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_27","position":[0.36500438279917446,-1.614106600984441,0.71338606911949],"aabb_xy":[[0.3544369031410754,-1.6246516310974493],[0.3755718624572734,-1.6035615708714321]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_28","position":[0.14929252694708484,1.526396840283406,0.71338606911949],"aabb_xy":[[0.12738384480773376,1.5044961734633153],[0.17120120908643585,1.5482975071034968]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[-0.44774834925222573,-1.414068499137253,0.71338606911949],"aabb_xy":[[-0.48993276341305647,-1.4780684994144642],[-0.405563935091395,-1.3500684988600418]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_30","position":[0.08685959246482,0.751742390717328,0.71338606911949],"aabb_xy":[[0.07549785781153383,0.7403739243110398],[0.09822132711810615,0.7631108571236159]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_31","position":[0.3774480516519003,1.5671064309508682,0.71338606911949],"aabb_xy":[[0.3274480512913342,1.517126443741265],[0.42744805201246633,1.617086418160471]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_32","position":[0.684017941275386,-1.2697781245110658,0.71338606911949],"aabb_xy":[[0.6475221206481072,-1.3062620669378233],[0.7205137619026647,-1.2332941820843082]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_33","position":[0.05572903358010717,-0.8247804808446846,0.71338606911949],"aabb_xy":[[0.019815529155117487,-0.8606939890614392],[0.09164253800509685,-0.7888669726279299]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_34","position":[0.3270017621066277,-0.640993383694962,0.71338606911949],"aabb_xy":[[0.26200176422497984,-0.6921170474015028],[0.39200175998827547,-0.5898697199884211]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6624783061886281,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2576.png","name":"2576"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2576.png","name":"2576"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2422.png","name":"2422"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8255.png","name":"8255"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8743.png","name":"8743"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4804.png","name":"4804"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":592.291739866163,"rotation_z_degrees":128.0835447997701,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0029520543170089356,-0.005608194531927015,-0.0027165650364488134]},{"name":"camera_2","offset_m":[0.00492941945718452,0.014364220902685496,0.010857253477455125]},{"name":"camera_3","offset_m":[0.018968868667018465,-0.006628071559088178,0.007751335552220261]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014413422681959038,0.0003797240446864669,0.00017913243866582093],"end_effector_yaw_offset_degrees":0.880296297331798},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015631361406326402,-0.0012537636059760536,0.0004937968032362561],"end_effector_yaw_offset_degrees":0.8533805216067101},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003408762048475308,-0.0011371495836328945,0.00040783192340431394],"end_effector_yaw_offset_degrees":0.2721076457230285}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016941958645903697,-0.001093807845014061],"position_m":[0.21899419586459037,-0.02139380784501406,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00327216594098119,-0.004003488416255229],"position_m":[0.2174721659409812,-0.38300348841625526,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031686558804305274,-0.0004078300088375397],"position_m":[0.21336865588043052,0.29519216999116243,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000276316886756626,-0.002585813698088041],"position_m":[0.3520763168867566,0.12931418630191194,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e3434754ca5446b69207f1a4df5f8dc5acdc23027e12cc2403e25426ece5b681","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2576/tex_ceiling_textures_4804/tex_floor_textures_8743/tex_table_textures_2422/tex_wall_textures_8255","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3140151727340105520,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3140151727340105520,"visual_seed":3140151727340105520,"scene_id":"lab_003","finished_at":"2026-09-04T09:47:15"}
+{"episode_id":"ep_000050","started_at":"2026-09-04T09:47:18","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.6471651546628014,-2.555163544400741,0.71338606911949],"aabb_xy":[[0.6096651534780085,-2.559581767096801],[0.6846651558475941,-2.55074532170468]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.46556194048505395,-2.2631379667612475,0.71338606911949],"aabb_xy":[[0.4405619413194209,-2.270090212466604],[0.4905619396506871,-2.256185721055891]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.6680022953375824,-0.27705169001668617,0.71338606911949],"aabb_xy":[[0.630502294840224,-0.2810203735648046],[0.7055022958349405,-0.27308300646856776]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.44483923882337356,-2.2160815393404087,0.71338606911949],"aabb_xy":[[-0.4998347166440329,-2.2710815407743152],[-0.3898437610027141,-2.1610815379065014]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.21622960432482263,1.151790442093314,0.71338606911949],"aabb_xy":[[-0.2196702805648798,1.1479290091189496],[-0.21278892808476546,1.1556518750676785]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[-0.6368707258796253,0.16900016142329388,0.71338606911949],"aabb_xy":[[-0.6474382055377244,0.15845513131028532],[-0.6263032462215263,0.17954519153630244]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.3745461454555856,1.4334420541659143,0.71338606911949],"aabb_xy":[[0.3105461440475949,1.3816531026419894],[0.43854614686357624,1.4852310056898388]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[0.7047257976586194,-1.580911582904709,0.71338606911949],"aabb_xy":[[0.6970226069845424,-1.5886209536034468],[0.7124289883326964,-1.5732022122059706]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[0.5482507058529842,-1.156581728198547,0.71338606911949],"aabb_xy":[[0.5412103959194473,-1.2365817275982185],[0.5552910157865213,-1.0765817287988757]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.6024252490354853,-0.20588999455580126,0.71338606911949],"aabb_xy":[[-0.6674252499926124,-0.25783820648950684],[-0.537425248078358,-0.15394178262209568]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[0.475775508179036,-1.2698739223452997,0.71338606911949],"aabb_xy":[[0.4696808802909177,-1.2784433168969687],[0.48187013606715434,-1.2613045277936312]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[0.43358723521692455,-2.5465911030148334,0.71338606911949],"aabb_xy":[[0.35358723820267657,-2.566725654688245],[0.5135872322311725,-2.526456551341422]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_12","position":[0.5632578130227364,-0.6776277947781448,0.71338606911949],"aabb_xy":[[0.4982578148668173,-0.703924039328057],[0.6282578111786554,-0.6513315502282326]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.2630928633451597,1.013951992510623,0.71338606911949],"aabb_xy":[[0.21310862763698246,0.9639519936971273],[0.3130770990533369,1.0639519913241184]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.4428037104821033,-0.23629595565946016,0.71338606911949],"aabb_xy":[[-0.4535766844034711,-0.27129595387849914],[-0.43203073656073554,-0.2012959574404212]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.5952844008253765,-1.647383319259209,0.71338606911949],"aabb_xy":[[-0.6652844042169385,-1.6826990929626398],[-0.5252843974338145,-1.612067545555778]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.002461981924407608,-2.064476627868242,0.71338606911949],"aabb_xy":[[-0.05753801792215918,-2.1212952500612805],[0.062461981770974395,-2.007658005675203]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.37433907070461875,1.0702229607082137,0.71338606911949],"aabb_xy":[[-0.3855841262752365,1.0589811629841182],[-0.36309401513400086,1.0814647584323087]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.25644357952978514,-0.38790290462390953,0.71338606911949],"aabb_xy":[[-0.27894358004182573,-0.4103947629893078],[-0.23394357901774454,-0.3654110462585111]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.6929838056909676,1.1634224295093065,0.71338606911949],"aabb_xy":[[0.6704838061672601,1.1409264820586855],[0.7154838052146749,1.185918376959927]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.5522740272968677,-1.1572227448707435,0.71338606911949],"aabb_xy":[[-0.632274025884187,-1.2365383468089042],[-0.4722740287095482,-1.0779071429325824]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[0.24157029902698013,-2.3219708812533493,0.71338606911949],"aabb_xy":[[0.1765702989926774,-2.368671557933677],[0.30657029906128286,-2.2752702045730224]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[0.37406624718342396,1.2336702838229239,0.71338606911949],"aabb_xy":[[0.3100662438937158,1.190335364819006],[0.438066250473132,1.2770052028268413]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[-0.3820391362365758,0.639552631902427,0.71338606911949],"aabb_xy":[[-0.4720391327374475,0.5936409894839686],[-0.292039139735704,0.6854642743208851]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[-0.3207341015027137,1.4567303611608948,0.71338606911949],"aabb_xy":[[-0.3708315654837874,1.392730360651083],[-0.27063663752164013,1.5207303616707066]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[0.14053835762608224,-0.9927831977134385,0.71338606911949],"aabb_xy":[[0.13078236811690835,-1.002545731772673],[0.15029434713525613,-0.983020663654204]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[-0.38285589895960065,1.6965111095637666,0.71338606911949],"aabb_xy":[[-0.4328558993201667,1.6465311223541637],[-0.3328558985990346,1.7464910967733696]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_27","position":[-0.03582937757354476,-0.8669378765104956,0.71338606911949],"aabb_xy":[[-0.04739835832048134,-0.8919378766274273],[-0.024260396826608188,-0.8419378763935639]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[-0.3771876924572837,0.21576283530917095,0.71338606911949],"aabb_xy":[[-0.4271876911032048,0.16584329164970854],[-0.3271876938113624,0.26568237896863334]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_29","position":[0.6416149944483227,-1.8870880258254181,0.71338606911949],"aabb_xy":[[0.6047644465113352,-1.9245880266484516],[0.6784655423853104,-1.8495880250023842]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_30","position":[-0.27064918909712865,-0.27382971624893404,0.71338606911949],"aabb_xy":[[-0.27827345718730695,-0.2814629397854778],[-0.26302492100695046,-0.2661964927123904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6578030101822561,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5498.png","name":"5498"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5498.png","name":"5498"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5570.png","name":"5570"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9389.png","name":"9389"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4715.png","name":"4715"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1625.png","name":"1625"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":525.1335494818434,"rotation_z_degrees":301.9052001132048,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000311049979261898,-0.017351114860008825,-0.012326512076751405]},{"name":"camera_2","offset_m":[-0.005348910777655451,0.0034212890672484612,0.013038099096780543]},{"name":"camera_3","offset_m":[0.006533170460189509,-0.0071001713610373204,0.017842162106286395]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016950172297905061,-0.00029318233856263725,0.000955275452630351],"end_effector_yaw_offset_degrees":0.7945134471256221},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000660838013194534,0.0001103459392589037,0.0019837288739110222],"end_effector_yaw_offset_degrees":0.7900704949858022},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014703983618870728,-0.001518798469386764,-0.0011756170868734426],"end_effector_yaw_offset_degrees":0.8866449247736607}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004257454615146485,-3.5447602850990564e-06],"position_m":[0.21772574546151463,-0.0203035447602851,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005598340132282123,0.0002601082784813094],"position_m":[0.2147598340132282,-0.3787398917215187,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00321920625523119,0.003116186067001863],"position_m":[0.2134192062552312,0.29871618606700184,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009972124052458698,-0.0027536723984666945],"position_m":[0.35279721240524586,0.1291463276015333,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c43e5457547134279798d88fffd0b00ef910c51521e5e3ba8d2f70a30fe03a0f","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5498/tex_ceiling_textures_1625/tex_floor_textures_4715/tex_table_textures_5570/tex_wall_textures_9389","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":1874197974552385001,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":1874197974552385001,"visual_seed":1874197974552385001,"scene_id":"lab_003","finished_at":"2026-09-04T09:50:07"}
+{"episode_id":"ep_000051","started_at":"2026-09-04T09:50:11","dimensions":{"distractor":{"count":35,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[-0.19991859772707615,-1.1242949589942868,0.71338606911949],"aabb_xy":[[-0.20537654336409622,-1.2042949623019459],[-0.19446065209005609,-1.0442949556866277]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[-0.17781213111355865,1.107284571161768,0.71338606911949],"aabb_xy":[[-0.22781213147412469,1.057304583952165],[-0.12781213075299255,1.157264558371371]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[-0.2673104644780539,0.8310034457646682,0.71338606911949],"aabb_xy":[[-0.27855552004867173,0.8197616480405728],[-0.25606540890743607,0.8422452434887634]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_3","position":[0.09076032837920112,-1.83537105424305,0.71338606911949],"aabb_xy":[[0.07289122062474564,-1.8492039622202612],[0.10862943613365662,-1.821538146265839]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.6116845144663586,0.9552940835076722,0.71338606911949],"aabb_xy":[[-0.6916845147399656,0.8823445356819555],[-0.5316845141927516,1.028243631333389]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[0.5907751900554856,0.13630241667338483,0.71338606911949],"aabb_xy":[[0.540797773190232,0.08630241518413624],[0.6407526069207392,0.18630241816263332]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[0.06588219837705589,-0.6807193223081105,0.71338606911949],"aabb_xy":[[0.03589053564318556,-0.7107193216449111],[0.09587386111092622,-0.6507193229713101]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[-0.6043126348339596,-0.6152756153040007,0.71338606911949],"aabb_xy":[[-0.6418126334095804,-0.6280119109675586],[-0.5668126362583388,-0.6025393196404427]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.34803542321350484,1.7622159009377767,0.71338606911949],"aabb_xy":[[-0.4120354196408268,1.7150462771156803],[-0.284035426786183,1.8093855247598731]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[0.3391370620475147,-2.3287889717155865,0.71338606911949],"aabb_xy":[[0.3239648927658814,-2.34395782864379],[0.3543092313291481,-2.313620114787384]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[0.11025678100546599,-1.6555211145753788,0.71338606911949],"aabb_xy":[[0.05025677936254415,-1.7075212638673232],[0.17025678264838784,-1.6035209652834348]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.33143092265001184,-0.9667127417816828,0.71338606911949],"aabb_xy":[[0.3220134480801491,-0.9761289189194018],[0.3408483972198746,-0.9572965646439637]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[0.3350388201675256,-1.4304636917752267,0.71338606911949],"aabb_xy":[[0.32704533037224365,-1.4384618237157025],[0.3430323099628077,-1.4224655598347513]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.3183175888470937,-2.1351032267178285,0.71338606911949],"aabb_xy":[[0.27303897396594445,-2.199103226066012],[0.363596203728243,-2.071103227369645]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.6332017048763727,1.2880130501895852,0.71338606911949],"aabb_xy":[[0.5946560120511716,1.2494672791333965],[0.6717473977015737,1.326558821245774]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[0.3579980904685507,1.31846335952909,0.71338606911949],"aabb_xy":[[0.3533629753163173,1.314596024451941],[0.362633205620784,1.3223306946062385]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.4912930035316718,1.721472288561403,0.71338606911949],"aabb_xy":[[0.43129300267085896,1.6700458585549165],[0.5512930043924845,1.7728987185678893]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[0.6863518774030244,1.4356061736761485,0.71338606911949],"aabb_xy":[[0.6488518772974313,1.4287840118231672],[0.7238518775086172,1.4424283355291294]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[-0.4208564613820346,-2.1789865606523704,0.71338606911949],"aabb_xy":[[-0.45835646217403003,-2.1853544016105606],[-0.38335646059003914,-2.17261871969418]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[0.015525572727694503,1.1640600933448653,0.71338606911949],"aabb_xy":[[0.006365693783817902,1.1575288753013282],[0.024685451671571098,1.1705913113884023]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.5477107869705437,0.6901860152627237,0.71338606911949],"aabb_xy":[[-0.5696194691098947,0.6682853484426329],[-0.5258021048311926,0.7120866820828143]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[-0.579995670820978,-0.49148500384293836,0.71338606911949],"aabb_xy":[[-0.6298783676986742,-0.5414850030892131],[-0.5301129739432818,-0.4414850045966636]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.20867194398869215,-1.503832330154602,0.71338606911949],"aabb_xy":[[-0.2424475031793851,-1.5178708253677669],[-0.17489638479799915,-1.489793834941437]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_23","position":[-0.09822134642217062,-2.165908918402607,0.71338606911949],"aabb_xy":[[-0.11572134555653779,-2.175788545440194],[-0.08072134728780345,-2.1560292913650185]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[0.19897487392023017,-0.727059536491927,0.71338606911949],"aabb_xy":[[0.1624790532929514,-0.7635434789186846],[0.23547069454750888,-0.6905755940651694]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_25","position":[0.41278618323687044,0.991683739256338,0.71338606911949],"aabb_xy":[[0.40788689093030683,0.9640068199537692],[0.4176854755434338,1.0193606585589068]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.3191608853385399,-0.9336834434890722,0.71338606911949],"aabb_xy":[[-0.3831608876813415,-0.9786242947332046],[-0.25516088299573836,-0.8887425922449396]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[0.6107486259650732,-1.9412861324966006,0.71338606911949],"aabb_xy":[[0.5882486257215578,-1.9534907671563728],[0.6332486262085886,-1.929081497836829]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_28","position":[-0.44473560441063253,1.3976613691941604,0.71338606911949],"aabb_xy":[[-0.5247356013736717,1.3205857275503872],[-0.3647356074475933,1.474737010837934]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_29","position":[-0.10988491239741349,0.7595679187649336,0.71338606911949],"aabb_xy":[[-0.17988491420615893,0.7382141500007461],[-0.039884910588668054,0.7809216875291208]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_30","position":[-0.04345949410304972,-1.726001068940132,0.71338606911949],"aabb_xy":[[-0.05050094505379732,-1.7330278206779266],[-0.036418043152302126,-1.7189743172023377]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_31","position":[0.5986894648583612,0.835093378291131,0.71338606911949],"aabb_xy":[[0.595248788618304,0.8312319453167666],[0.6021301410984183,0.8389548112654955]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_32","position":[-0.038064810040862374,-0.32000016455354796,0.71338606911949],"aabb_xy":[[-0.04302083022574357,-0.34250016475566963],[-0.033108789855981174,-0.2975001643514264]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_33","position":[0.6030784944571832,-1.5889326822266816,0.71338606911949],"aabb_xy":[[0.593731486874888,-1.6032363044443259],[0.6124255020394784,-1.5746290600090378]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_34","position":[-0.619688774316904,1.6197049533279926,0.71338606911949],"aabb_xy":[[-0.6553179302168637,1.5840722865711396],[-0.5840596184169442,1.6553376200848455]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.657792906356947,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3406.png","name":"3406"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3406.png","name":"3406"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1344.png","name":"1344"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4126.png","name":"4126"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5416.png","name":"5416"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7560.png","name":"7560"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":662.4214660784401,"rotation_z_degrees":129.3855878892674,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009306300271776896,-0.011270762684189885,0.0038891241694020418]},{"name":"camera_2","offset_m":[0.010331787186105692,0.0037497659756140223,-0.0038945033023094593]},{"name":"camera_3","offset_m":[0.0038160366477965335,-0.0008561107375908428,-0.011287253551793434]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006299901070099556,-0.001357597347231582,-0.000616624586882261],"end_effector_yaw_offset_degrees":-0.14386619084042862},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008512527063241971,-0.0004885102515699144,0.001840482757574854],"end_effector_yaw_offset_degrees":0.8917600408315054},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010034490014090565,-0.0003203623525959492,0.00042651841629420036],"end_effector_yaw_offset_degrees":-0.08005476687135893}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003784174325569457,-0.0016690811366433579],"position_m":[0.21351582567443053,-0.021969081136643358,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003737773340783644,1.3580499796691896e-05],"position_m":[0.21457377733407837,-0.3789864195002033,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004500760027008951,-0.0031059705751314863],"position_m":[0.21470076002700894,0.29249402942486846,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004397304650043105,0.00030225843485059273],"position_m":[0.3561973046500431,0.1322022584348506,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3af1dfef83868aae2363cdaec5829229fa5a16082250cb54d9cd25045cc14803","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0051.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3406/tex_ceiling_textures_7560/tex_floor_textures_5416/tex_table_textures_1344/tex_wall_textures_4126","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8186441898195337672,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8186441898195337672,"visual_seed":8186441898195337672,"scene_id":"lab_003","finished_at":"2026-09-04T09:53:13"}
+{"episode_id":"ep_000052","started_at":"2026-09-04T09:53:17","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[0.40378060695956863,-1.7718052121590668,0.71338606911949],"aabb_xy":[[0.35860928911139967,-1.8358052093036057],[0.44895192480773766,-1.7078052150145289]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[0.04521659219451368,-1.3348709097735942,0.71338606911949],"aabb_xy":[[0.00818248276645396,-1.3692481171073034],[0.08225070162257339,-1.3004937024398846]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.10926012214681002,1.005186808970068,0.71338606911949],"aabb_xy":[[0.059260121786243965,0.9552068217604649],[0.1592601225073761,1.0551667961796707]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[0.6104274640928484,-1.2076082951614824,0.71338606911949],"aabb_xy":[[0.5504274638414473,-1.261889620197947],[0.6704274643442496,-1.1533269701250177]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.5995461529808179,0.3533108073648048,0.71338606911949],"aabb_xy":[[0.5345461519803174,0.30252444221012986],[0.6645461539813184,0.40409717251947974]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.06297749542897679,-2.2474696340197093,0.71338606911949],"aabb_xy":[[0.05356002085911403,-2.2568858111574284],[0.07239496999883953,-2.2380534568819903]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[-0.2860251196469234,-1.9059265812029658,0.71338606911949],"aabb_xy":[[-0.29406847957287857,-1.9909265822983322],[-0.2779817597209682,-1.8209265801075993]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[0.4121386681441188,-0.8966891835330062,0.71338606911949],"aabb_xy":[[0.3321386711298708,-0.9168237352064176],[0.49213866515836674,-0.876554631859595]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.04014677487438689,1.1634712184223797,0.71338606911949],"aabb_xy":[[-0.014853223327357936,1.1229492517959418],[0.09514677307613173,1.203993185048817]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.07582102333610885,-2.389087187172117,0.71338606911949],"aabb_xy":[[-0.1458210259726952,-2.4091920521679824],[-0.005821020699522492,-2.3689823221762514]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[-0.49811585736953,0.7211697143009403,0.71338606911949],"aabb_xy":[[-0.5356158575414021,0.688468978918033],[-0.46061585719765813,0.7538704496838474]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.3922545066283838,0.29412345272809404,0.71338606911949],"aabb_xy":[[-0.45225450722439997,0.23931098018287056],[-0.3322545060323676,0.3489359252733175]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.41983463930000564,0.34059488499136936,0.71338606911949],"aabb_xy":[[0.40315750330691014,0.32389496101743914],[0.43651177529310115,0.3572948089652997]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.4328398106010136,1.2092653429618392,0.71338606911949],"aabb_xy":[[0.4257983596502661,1.2022385912240448],[0.43988126155176127,1.2162920946996336]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.38775766093545966,1.6055709258062794,0.71338606911949],"aabb_xy":[[-0.42222000833360135,1.5710770434084564],[-0.35329531353731775,1.6400648082041018]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.3459443845113814,-0.8047540751162516,0.71338606911949],"aabb_xy":[[-0.36722239265485357,-0.8697540774423245],[-0.32466637636790907,-0.7397540727901784]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.41650646006483694,1.139547049140499,0.71338606911949],"aabb_xy":[[0.39400732433860997,1.1170470483622361],[0.4390055957910639,1.162047049918762]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.36441040505851074,-0.23040643718438014,0.71338606911949],"aabb_xy":[[-0.38691040530202614,-0.2426110718441521],[-0.34191040481499535,-0.2182018025246082]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[0.11627787550599156,0.6523624291217676,0.71338606911949],"aabb_xy":[[0.07978205487871279,0.6158784866950099],[0.15277369613327027,0.688846371548525]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[-0.06079141361961016,-1.8070525993887339,0.71338606911949],"aabb_xy":[[-0.0870802379400508,-1.8333240330433846],[-0.03450258929916949,-1.7807811657340822]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[-0.5058471622309642,0.8251356421048164,0.71338606911949],"aabb_xy":[[-0.5233471613653312,0.8152560150672284],[-0.4883471630965969,0.8350152691424041]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582364450997249,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1178.png","name":"1178"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1178.png","name":"1178"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6522.png","name":"6522"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8947.png","name":"8947"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7791.png","name":"7791"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3313.png","name":"3313"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":552.1537918662312,"rotation_z_degrees":16.49681390121674,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003128151567724835,-0.003963334799726052,-0.0018549460481010263]},{"name":"camera_2","offset_m":[-0.0032486253102132698,0.006185304061510372,-0.006451576036860435]},{"name":"camera_3","offset_m":[-0.009602487785945803,-0.011479025300041927,-0.007719838610701224]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001288512294130492,0.0007141922750798198,0.0016542237566788613],"end_effector_yaw_offset_degrees":-0.27772325488452565},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006736018418894603,0.0016479172632959302,-0.001465963399700935],"end_effector_yaw_offset_degrees":-0.6319511162844569},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018207849224464753,0.00014877663142167166,-0.001344298638966303],"end_effector_yaw_offset_degrees":0.5711264840957726}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036945557279955653,0.002892562760324741],"position_m":[0.21360544427200442,-0.017407437239675257,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00294907626860231,0.002916670142204072],"position_m":[0.2171490762686023,-0.3760833298577959,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004691021565252604,-0.00216398391318019],"position_m":[0.20550897843474739,0.2934360160868198,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016921187661829498,0.0012737498363644476],"position_m":[0.35349211876618297,0.13317374983636443,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"48fbe26168f8612347155908f7a046a7a1d74371d32c8f80e60a01f16e26c8c1","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1178/tex_ceiling_textures_3313/tex_floor_textures_7791/tex_table_textures_6522/tex_wall_textures_8947","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3329211258935862593,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3329211258935862593,"visual_seed":3329211258935862593,"scene_id":"lab_003","finished_at":"2026-09-04T09:56:08"}
+{"episode_id":"ep_000053","started_at":"2026-09-04T09:56:11","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.6113729173307959,-2.439787806814733,0.71338606911949],"aabb_xy":[[-0.6174099303314606,-2.4458145078836817],[-0.6053359043301312,-2.4337611057457855]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[-0.070903639829626,1.28303528882631,0.71338606911949],"aabb_xy":[[-0.08053527605005562,1.273397976046601],[-0.06127200360919638,1.2926726016060188]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[0.3670035674212855,-2.4326132737804644,0.71338606911949],"aabb_xy":[[0.2820035687292108,-2.4645991371753437],[0.45200356611336007,-2.400627410385586]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.31026111626109665,-2.006686232929463,0.71338606911949],"aabb_xy":[[0.24626111391829505,-2.0516270841735955],[0.37426111860389816,-1.9617453816853307]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[0.05703022371605737,1.2646288130867789,0.71338606911949],"aabb_xy":[[0.04096829625753971,1.1796288112741868],[0.07309215117457499,1.3496288148993705]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[-0.24156249556165998,-0.6690014209679558,0.71338606911949],"aabb_xy":[[-0.26656249483362227,-0.685346784564118],[-0.2165624962896977,-0.6526560573717933]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.4178942906613335,-0.5277307314772144,0.71338606911949],"aabb_xy":[[-0.45235663805947524,-0.5622246138750369],[-0.38343194326319163,-0.4932368490793915]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.10784410411841783,0.5471453235619426,0.71338606911949],"aabb_xy":[[-0.13034323984464477,0.5246453227836796],[-0.08534496839219083,0.5696453243402055]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.06296652149598392,-1.3606735933382694,0.71338606911949],"aabb_xy":[[-0.09081155827659104,-1.391458092076581],[-0.035121484715376794,-1.3298890945999577]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[-0.3385151277680469,0.2242209553641512,0.71338606911949],"aabb_xy":[[-0.3760151284326255,0.208533897363929],[-0.3010151271034681,0.23990801336437337]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.6453980404231434,0.6639436016172788,0.71338606911949],"aabb_xy":[[0.5954192319128275,0.61394360161156],[0.6953768489334593,0.7139436016229976]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[-0.37201020141293545,-1.090304778485643,0.71338606911949],"aabb_xy":[[-0.40630711243067597,-1.124601664695584],[-0.3377132903951947,-1.0560078922757015]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.2740725396702282,1.0192595088876226,0.71338606911949],"aabb_xy":[[-0.33807254158257055,0.9633483596296122],[-0.21007253775788587,1.075170658145633]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.5038692273734602,-1.0145849713372488,0.71338606911949],"aabb_xy":[[0.4997532772613874,-1.0187005263700941],[0.5079851774855327,-1.010469416304403]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[0.5769709540733656,1.487802548239474,0.71338606911949],"aabb_xy":[[0.5635244274393223,1.4743326965863828],[0.590417480707409,1.5012723998925654]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[0.20221112333687918,1.0430369569458828,0.71338606911949],"aabb_xy":[[0.18466442842076025,1.0055369553816316],[0.21975781825299812,1.080536958510134]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.24666621197746275,-1.8306248962213556,0.71338606911949],"aabb_xy":[[-0.32666621063434875,-1.8451297551456187],[-0.1666662133205767,-1.816120037297093]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[-0.5270515889702743,-2.020535379408741,0.71338606911949],"aabb_xy":[[-0.562680744870234,-2.056168046165594],[-0.4914224330703145,-1.9849027126518881]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[0.16263186934226037,-0.9446551956789206,0.71338606911949],"aabb_xy":[[0.08263186826914004,-0.9544332420163052],[0.2426318704153807,-0.9348771493415363]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.22194973622775738,-1.1154805030058463,0.71338606911949],"aabb_xy":[[-0.2306637052776918,-1.1379805036650341],[-0.21323576717782283,-1.0929805023466577]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[0.6109217864173042,-1.4886534703338183,0.71338606911949],"aabb_xy":[[0.6011657969081303,-1.4984160043930528],[0.6206777759264781,-1.478890936274584]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[-0.23664829511975033,-1.9349667229568412,0.71338606911949],"aabb_xy":[[-0.2591482953632657,-1.9471713576166132],[-0.21414829487623493,-1.9227620882970693]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[-0.28618850981419797,0.6937700599999688,0.71338606911949],"aabb_xy":[[-0.35018851122218864,0.6419811084760441],[-0.22218850840620732,0.7455590115238935]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_23","position":[-0.11505727186404657,0.7045903551449859,0.71338606911949],"aabb_xy":[[-0.16022858971221554,0.6405903580004476],[-0.06988595401587759,0.7685903522895245]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6544191301394883,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7844.png","name":"7844"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7844.png","name":"7844"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/67.png","name":"67"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1696.png","name":"1696"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3638.png","name":"3638"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8705.png","name":"8705"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":619.329469075919,"rotation_z_degrees":280.80664695088905,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0003318884215885408,-0.014160983762233315,-0.0051229667413133]},{"name":"camera_2","offset_m":[0.008191006960094786,0.01948780189771788,0.010050365363144454]},{"name":"camera_3","offset_m":[0.0028887162190418224,0.011049616072534775,-0.005990060899392167]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017451417477804788,0.0006255186265332947,0.001472967549553587],"end_effector_yaw_offset_degrees":0.030620359932601815},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00046158712968082756,0.0010439279027032239,-0.0006243940545958683],"end_effector_yaw_offset_degrees":0.3312100289645812},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00020798206703914138,-0.0007326706497156016,-0.0009184083278117221],"end_effector_yaw_offset_degrees":-0.047253651122667106}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0043041617698208875,0.0019260884764676313],"position_m":[0.22160416176982087,-0.018373911523532366,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018219190608710955,0.0027556659922933473],"position_m":[0.2123780809391289,-0.3762443340077067,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0002946965539016265,0.001612429696851785],"position_m":[0.20990530344609837,0.29721242969685174,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003435859663405678,0.0025753523476810137],"position_m":[0.3483641403365943,0.13447535234768102,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3a3e5575d9ff93104fa13f92bb5bfbd2076177f5908aedfbdc5536d20bbce3cb","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7844/tex_ceiling_textures_8705/tex_floor_textures_3638/tex_table_textures_67/tex_wall_textures_1696","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":4386805787405713053,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":4386805787405713053,"visual_seed":4386805787405713053,"scene_id":"lab_003","finished_at":"2026-09-04T09:59:04"}
+{"episode_id":"ep_000054","started_at":"2026-09-04T09:59:07","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.31684884381014916,0.04090051027354047,0.71338606911949],"aabb_xy":[[-0.3228858568108139,0.03487380920459226],[-0.31081183080948444,0.04692721134248867]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.5686187910124714,-1.0107450139786354,0.71338606911949],"aabb_xy":[[0.4789317147043559,-1.100745014233086],[0.6583058673205868,-0.9207450137241848]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[-0.17406268975087935,1.3185985355281025,0.71338606911949],"aabb_xy":[[-0.22905590108801618,1.2635985351893086],[-0.11906947841374266,1.3735985358668958]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[0.12396509612236517,0.6437656512534384,0.71338606911949],"aabb_xy":[[0.10705436368602339,0.6302934456608239],[0.14087582855870695,0.657237856846053]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.19861720609216327,-2.4786538377148823,0.71338606911949],"aabb_xy":[[0.1761035142687061,-2.54865383831589],[0.2211308979156205,-2.408653837113875]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.4894221406498079,0.4153227385935079,0.71338606911949],"aabb_xy":[[-0.4974161292275112,0.4073226584984175],[-0.48142815207210443,0.42332281868859817]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[0.2009642130873276,1.6304483548614592,0.71338606911949],"aabb_xy":[[0.13096421667736577,1.610010419209777],[0.27096420949728933,1.6508862905131405]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.565606962840468,0.9421198791617931,0.71338606911949],"aabb_xy":[[-0.6296069650608751,0.8977467950365048],[-0.501606960620061,0.9864929632870814]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[-0.06326856723443164,1.097221964997495,0.71338606911949],"aabb_xy":[[-0.08826856640006474,1.0902697192921382],[-0.03826856806879851,1.1041742107028514]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.04630943284153277,1.49952246961765,0.71338606911949],"aabb_xy":[[0.03860624216745573,1.4918130989189116],[0.054012623515609814,1.5072318403163878]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.5544217878872014,-1.7931390638989377,0.71338606911949],"aabb_xy":[[-0.6194217888443285,-1.8450872758326433],[-0.48942178693007415,-1.7411908519652322]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.27756697379138207,1.705042695311342,0.71338606911949],"aabb_xy":[[-0.2863690291003548,1.697231369156413],[-0.26876491848240935,1.712854021466271]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.5794029757147935,-0.3145360518982332,0.71338606911949],"aabb_xy":[[-0.5925542216860828,-0.33953605165491973],[-0.5662517297435041,-0.28953605214154665]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.05226715012513139,-0.3592676597335185,0.71338606911949],"aabb_xy":[[-0.06419988448695946,-0.3716498125413779],[-0.040334415763303315,-0.34688550692565917]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[-0.5089581705370968,0.32957900106550264,0.71338606911949],"aabb_xy":[[-0.5339581704696147,0.3226963328445794],[-0.4839581706045789,0.336461669286426]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[-0.4067766430862637,-0.9052023101187214,0.71338606911949],"aabb_xy":[[-0.41141175823849696,-0.90906964519587],[-0.40214152793403024,-0.9013349750415727]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[0.48275587833356304,-1.8263681983151527,0.71338606911949],"aabb_xy":[[0.44525587804138833,-1.8304096737157562],[0.520255878625738,-1.8223267229145492]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.2987465900397213,-0.42238218899861923,0.71338606911949],"aabb_xy":[[-0.3587465905475742,-0.4792289226845405],[-0.23874658953186836,-0.3655354553126979]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[0.40471916338164715,-2.027938650407076,0.71338606911949],"aabb_xy":[[0.3895469941000138,-2.0431075073352796],[0.4198913326632805,-2.0127697934788724]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.17670024777484594,1.48274485110888,0.71338606911949],"aabb_xy":[[-0.1864562372840198,1.4729823170496457],[-0.16694425826567202,1.4925073851681145]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[0.08896304329664251,-2.173417036701364,0.71338606911949],"aabb_xy":[[0.01896304148789707,-2.1947708054655513],[0.15896304510538795,-2.1520632679371765]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.12032548087694794,-1.3762315943221046,0.71338606911949],"aabb_xy":[[-0.210325483210967,-1.4537139489072175],[-0.030325478542928885,-1.2987492397369922]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[0.49461089365980726,-0.32112170976319643,0.71338606911949],"aabb_xy":[[0.4721108931477666,-0.3436135681285947],[0.5171108941718479,-0.298629851397798]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_23","position":[0.11077671027104263,-2.3553866304634994,0.71338606911949],"aabb_xy":[[0.10000373634967485,-2.3903866286825384],[0.12154968419241041,-2.3203866322444604]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_24","position":[-0.2799508229176372,-0.6356722565316117,0.71338606911949],"aabb_xy":[[-0.29745082316268656,-0.6531720443711785],[-0.2624508226725878,-0.6181724686920448]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.35034458078448755,-0.8185466531503691,0.71338606911949],"aabb_xy":[[-0.3654468822455056,-0.8336481747814307],[-0.3352422793234694,-0.8034451315193071]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[-0.3876464233611136,1.4411292498392858,0.71338606911949],"aabb_xy":[[-0.39406023700429854,1.4347194295916175],[-0.38123260971792866,1.4475390700869541]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_27","position":[0.4727740923144559,1.277944982205955,0.71338606911949],"aabb_xy":[[0.4377740909629741,1.257585246249134],[0.5077740936659375,1.2983047181627756]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[0.4564907263841589,-1.6325651504965095,0.71338606911949],"aabb_xy":[[0.4214907272542032,-1.6383103715721736],[0.49149072551411455,-1.6268199294208454]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_29","position":[0.36269746422248517,-2.416325592946532,0.71338606911949],"aabb_xy":[[0.298697460932777,-2.459660511950449],[0.42669746751219323,-2.372990673942614]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[-0.10974221133611584,1.6599985844781622,0.71338606911949],"aabb_xy":[[-0.15974220998203703,1.6100790408186998],[-0.05974221269019464,1.7099181281376246]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_31","position":[0.3889499622546049,0.9937953945187679,0.71338606911949],"aabb_xy":[[0.35448748424151705,0.9871317173358449],[0.4234124402676926,1.0004590717016906]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_32","position":[-0.3146617407190527,-1.3924217210159822,0.71338606911949],"aabb_xy":[[-0.364661741738188,-1.4288879367538103],[-0.26466173969991746,-1.3559555052781544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6568374319761033,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/943.png","name":"943"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/943.png","name":"943"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5636.png","name":"5636"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8819.png","name":"8819"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3043.png","name":"3043"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/449.png","name":"449"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":562.5494123118875,"rotation_z_degrees":102.09746507620918,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015897804718296105,-0.009455523198476486,0.007866775529492089]},{"name":"camera_2","offset_m":[-0.004897292374826412,0.010172251356990469,-0.012120969275970169]},{"name":"camera_3","offset_m":[2.3184360828244766e-05,-0.012705258406832898,0.0008433678906487607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001536981134183657,-0.00190394852395969,-0.0008776001954483425],"end_effector_yaw_offset_degrees":0.6985665945550288},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-9.071630838945483e-05,0.0015865651932299024,-0.00029091315064874203],"end_effector_yaw_offset_degrees":0.6077173263339635},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00024141018941980803,-0.001777044035976435,0.0009206668983524915],"end_effector_yaw_offset_degrees":-0.6170310002882926}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003430170676357613,0.0005730027794714461],"position_m":[0.2207301706763576,-0.019726997220528553,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025222081151237297,-0.0024186294087088778],"position_m":[0.21167779188487626,-0.38141862940870885,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002593171402682587,0.001329856563621651],"position_m":[0.21279317140268258,0.29692985656362164,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036626828581800006,-0.002009317512889973],"position_m":[0.35546268285818,0.12989068248711003,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9a024f308bf099a5fc05b16cb64ecf3827d09faff3cbe4e8085f3f8d8745b55d","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_943/tex_ceiling_textures_449/tex_floor_textures_3043/tex_table_textures_5636/tex_wall_textures_8819","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":7117134304515330949,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":7117134304515330949,"visual_seed":7117134304515330949,"scene_id":"lab_003","finished_at":"2026-09-04T10:02:04"}
+{"episode_id":"ep_000055","started_at":"2026-09-04T10:02:07","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[0.1797720657004095,-1.1776782611166106,0.71338606911949],"aabb_xy":[[0.1344934508192602,-1.2416782604647942],[0.22505068058155872,-1.1136782617684269]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.4294733474099873,-1.4253149043305264,0.71338606911949],"aabb_xy":[[-0.45469418426982694,-1.450538655183413],[-0.4042525105501476,-1.4000911534776395]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[0.3183637051676669,-0.9225547019838167,0.71338606911949],"aabb_xy":[[0.283363706897547,-0.9296288296788047],[0.3533637034377868,-0.9154805742888283]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[0.41187453162193743,-2.485889566499736,0.71338606911949],"aabb_xy":[[0.3743745315163444,-2.492711728352716],[0.44937453172753034,-2.479067404646754]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.13062976235331591,-1.7281554333138063,0.71338606911949],"aabb_xy":[[-0.18072722633438956,-1.7921554338236179],[-0.08053229837224232,-1.6641554328039943]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.2657580043329721,1.0378485174067427,0.71338606911949],"aabb_xy":[[-0.3207534821536314,0.9828485159728355],[-0.21076252651231264,1.0928485188406494]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[0.5900477770144099,0.04527628624728042,0.71338606911949],"aabb_xy":[[0.5840812380736742,0.03931514158791638],[0.5960143159551456,0.051237430906644454]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[-0.07167104160940008,-1.1988429783469752,0.71338606911949],"aabb_xy":[[-0.08511756824344341,-1.2123128300000663],[-0.058224514975356745,-1.185373126693884]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[0.5280715041903714,-2.2097416752253496,0.71338606911949],"aabb_xy":[[0.4480715020276089,-2.289696858851493],[0.6080715063531339,-2.129786491599206]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.4391352509816028,1.5206228337862577,0.71338606911949],"aabb_xy":[[-0.4991352514894557,1.4637761001003362],[-0.37913525047374985,1.5774695674721788]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.2877049223800715,1.4477123721479397,0.71338606911949],"aabb_xy":[[0.2177049202486419,1.4249504065222436],[0.357704924511501,1.470474337773635]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[0.3753047399787599,-1.7396372846581145,0.71338606911949],"aabb_xy":[[0.35743563222430436,-1.7534701926353256],[0.39317384773321534,-1.7258043766809035]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[-0.614408177181937,-1.8414005577195842,0.71338606911949],"aabb_xy":[[-0.6944081804397799,-1.921397065511568],[-0.534408173924094,-1.7614040499276]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[0.5828169291284566,-2.5015696070921822,0.71338606911949],"aabb_xy":[[0.5603177934022296,-2.5240696078704454],[0.6053160648546836,-2.479069606313919]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.5833549879938289,1.582744280508947,0.71338606911949],"aabb_xy":[[-0.6009332901827757,1.565169790934842],[-0.565776685804882,1.6003187700830521]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[0.4831488178897352,-1.525792364775396,0.71338606911949],"aabb_xy":[[0.44213087450336436,-1.5757923654063535],[0.5241667612761061,-1.4757923641444388]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.10647838052354142,-0.8326273125358019,0.71338606911949],"aabb_xy":[[-0.1289783805336897,-0.8467235321754052],[-0.08397838051339312,-0.8185310928961986]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.2821821928828349,-2.1737811857126514,0.71338606911949],"aabb_xy":[[-0.30407194047177566,-2.2637811830019006],[-0.26029244529389406,-2.0837811884234023]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[-0.10014567682172504,1.1084977546690342,0.71338606911949],"aabb_xy":[[-0.17014567863047048,1.0871439859048466],[-0.030145675012979614,1.1298515234332214]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.09659371481697954,-2.4925541773152062,0.71338606911949],"aabb_xy":[[-0.15158596545249048,-2.5475541790585194],[-0.04160146418146859,-2.437554175571894]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.3889406664925907,-0.23414119045687576,0.71338606911949],"aabb_xy":[[-0.4389354994205323,-0.2841411893521193],[-0.3389458335646491,-0.18414119156163222]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[0.5794641840239201,-0.1673519012264788,0.71338606911949],"aabb_xy":[[0.5565484711388702,-0.19025619836290236],[0.60237989690897,-0.14444760409005533]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.1812852104088043,-2.2423887559875397,0.71338606911949],"aabb_xy":[[0.15882044043739918,-2.2648887568664],[0.20374998038020942,-2.219888755108679]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[-0.36873004971515755,-2.4002580951349635,0.71338606911949],"aabb_xy":[[-0.4327300499756283,-2.445266894487891],[-0.3047300494546867,-2.355249295782035]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_24","position":[-0.2195395428183562,-1.2597720435615936,0.71338606911949],"aabb_xy":[[-0.24786925276689642,-1.2642327857553106],[-0.19120983286981597,-1.2553113013678765]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[-0.04872010904633395,-1.3519431362629935,0.71338606911949],"aabb_xy":[[-0.05683376371971104,-1.3600489527170225],[-0.04060645437295684,-1.3438373198089644]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_26","position":[0.2517301765110749,0.5411055398740645,0.71338606911949],"aabb_xy":[[0.18773017920872842,0.49673911290620765],[0.3157301738134212,0.5854719668419212]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_27","position":[-0.26394919600402644,0.7621316587787095,0.71338606911949],"aabb_xy":[[-0.32794919517379634,0.715364971659747],[-0.19994919683425647,0.808898345897672]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_28","position":[-0.19768013075399737,-0.22751026150883646,0.71338606911949],"aabb_xy":[[-0.2341759513812761,-0.26399420393559403],[-0.1611843101267186,-0.19102631908207887]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_29","position":[0.5076864947145987,-0.30765083287551453,0.71338606911949],"aabb_xy":[[0.49644143914398087,-0.31889263059960976],[0.5189315502852165,-0.2964090351514192]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[-0.48573857300620527,1.1277316011364076,0.71338606911949],"aabb_xy":[[-0.5034142035948035,1.1100513848570048],[-0.4680629424176069,1.1454118174158103]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_31","position":[0.030081690438776176,-1.7601841376560996,0.71338606911949],"aabb_xy":[[0.021300463291539954,-1.7689638849446303],[0.03886291758601241,-1.7514043903675698]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_32","position":[-0.3160849603081491,-1.002314769546599,0.71338606911949],"aabb_xy":[[-0.3535849609727278,-1.0180018275468212],[-0.2785849596435704,-0.986627711546377]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_33","position":[0.3267975492792867,-1.2709794318408207,0.71338606911949],"aabb_xy":[[0.3029613316386817,-1.3609794326493072],[0.35063376691989184,-1.1809794310323343]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_34","position":[0.6173320747807332,1.753981091098621,0.71338606911949],"aabb_xy":[[0.6004213423443913,1.7405088855060062],[0.6342428072170748,1.7674532966912355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6543318151457768,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9007.png","name":"9007"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9007.png","name":"9007"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4070.png","name":"4070"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3541.png","name":"3541"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4061.png","name":"4061"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4513.png","name":"4513"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":754.103233510352,"rotation_z_degrees":264.85188162689644,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01868476216466032,-0.014002935675413934,-0.006768717644645119]},{"name":"camera_2","offset_m":[-0.004266898181335452,0.012162980234123075,0.015868436323572554]},{"name":"camera_3","offset_m":[-0.008119706373872812,-0.013185552806513266,0.015537375976023438]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002422580400513086,0.0007869423374898057,0.000538893079389501],"end_effector_yaw_offset_degrees":0.47750878948321396},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013263794723496472,0.0009368283778775702,0.0019626161268234193],"end_effector_yaw_offset_degrees":-0.41906165944985063},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001847231916933267,0.0009692109332852827,0.0009162671312333542],"end_effector_yaw_offset_degrees":-0.28518549046107444}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004391541405837141,0.001804614086108645],"position_m":[0.22169154140583713,-0.018495385913891355,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004827465908232891,-0.0013354090108827423],"position_m":[0.20937253409176712,-0.38033540901088275,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010557892089396847,0.0005252657789715379],"position_m":[0.20914421079106033,0.2961252657789715,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000866234100800928,-0.001854689053513511],"position_m":[0.35266623410080095,0.13004531094648647,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"61c67ba2b760ea430a8d7fae004d47780b960db149021f0645687daa30f33814","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9007/tex_ceiling_textures_4513/tex_floor_textures_4061/tex_table_textures_4070/tex_wall_textures_3541","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3684986307801939182,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3684986307801939182,"visual_seed":3684986307801939182,"scene_id":"lab_003","finished_at":"2026-09-04T10:05:15"}
+{"episode_id":"ep_000056","started_at":"2026-09-04T10:05:18","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[-0.11558040355618215,0.6131619938427635,0.71338606911949],"aabb_xy":[[-0.17058040317792802,0.5581783010552909],[-0.06058040393443634,0.6681456866302363]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.34582668096392477,-1.2591472427485186,0.71338606911949],"aabb_xy":[[0.3291495449708293,-1.275847166722449],[0.36250381695702033,-1.2424473187745884]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[-0.001679236692558872,-1.6364409288719106,0.71338606911949],"aabb_xy":[[-0.036679236669054704,-1.6459055449195272],[0.03332076328393696,-1.626976312824294]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[0.6203390400979378,0.4066755882670816,0.71338606911949],"aabb_xy":[[0.5563390393944685,0.3606572057941606],[0.6843390408014072,0.45269397074000267]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.4138495663212529,-2.1400610074675113,0.71338606911949],"aabb_xy":[[-0.43884956587299134,-2.1502034913326455],[-0.3888495667695144,-2.129918523602376]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.020172385038924823,0.9253491481738871,0.71338606911949],"aabb_xy":[[-0.04345422723705616,0.840349146876659],[0.0031094571592065186,1.010349149471115]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[0.11513446103180625,0.9053808772908862,0.71338606911949],"aabb_xy":[[0.10190351549712495,0.8921534582688867],[0.12836540656648754,0.9186082963128855]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[0.16340558928703952,-1.1061274503828362,0.71338606911949],"aabb_xy":[[0.1554823090482912,-1.1286274506208394],[0.17132886952578785,-1.0836274501448326]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.3684032486530907,1.063581020858778,0.71338606911949],"aabb_xy":[[-0.3718439248931479,1.0597195878844137],[-0.36496257241303354,1.0674424538331426]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[-0.37056684310985244,1.7800282803479006,0.71338606911949],"aabb_xy":[[-0.38819967870338,1.7624053343322774],[-0.35293400751632487,1.7976512263635234]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[-0.085966346533359,-1.7917433156696507,0.71338606911949],"aabb_xy":[[-0.13596634689392506,-1.8417233028792535],[-0.035966346172792936,-1.7417633284600476]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[0.09161757250507285,-2.082944581801017,0.71338606911949],"aabb_xy":[[0.031617570862151,-2.1349447310929612],[0.1516175741479947,-2.030944432509073]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[0.42405041760084883,0.9048549258428582,0.71338606911949],"aabb_xy":[[0.4002141999602439,0.814854925034372],[0.447886635241454,0.9948549266513449]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.630155879933735,-1.4666078562778746,0.71338606911949],"aabb_xy":[[0.5651558813766623,-1.4963603896917572],[0.695155878490808,-1.436855322863992]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.6024400740152211,-0.30060518442922435,0.71338606911949],"aabb_xy":[[-0.6203091817696766,-0.3144380924064353],[-0.5845709662607657,-0.2867722764520134]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[-0.1846216712848442,-1.1625109383610208,0.71338606911949],"aabb_xy":[[-0.21908414929793193,-1.1691746155439438],[-0.1501591932717564,-1.1558472611780979]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[0.29939843947276323,1.7007899703609168,0.71338606911949],"aabb_xy":[[0.2818517445566443,1.6632899687966656],[0.31694513438888217,1.738289971925168]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[0.5658657419619972,-0.0575319202053044,0.71338606911949],"aabb_xy":[[0.5527144959907079,-0.08253191996199094],[0.5790169879332866,-0.03253192044861785]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.27377357113653344,-2.2349824631022286,0.71338606911949],"aabb_xy":[[0.209773573834187,-2.2793488900700853],[0.3377735684388798,-2.190616036134372]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.49071885607410926,-0.7984893281731695,0.71338606911949],"aabb_xy":[[-0.5015704623229849,-0.8093486189008205],[-0.47986724982523365,-0.7876300374455185]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.655892300926168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9257.png","name":"9257"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9257.png","name":"9257"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6542.png","name":"6542"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1885.png","name":"1885"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7124.png","name":"7124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5888.png","name":"5888"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":548.2292838110718,"rotation_z_degrees":29.031933821600827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01642241307886064,0.014367617070196879,-0.01683872844396384]},{"name":"camera_2","offset_m":[0.017204720105880655,0.00761937426099972,0.017730211371694015]},{"name":"camera_3","offset_m":[0.011778534797606894,0.017647008434673764,-0.011707364189048431]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012803468591758836,-0.001459896088541441,-3.4539148971734785e-05],"end_effector_yaw_offset_degrees":-0.36232527240740864},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009911004158331355,-0.0007361029094311573,-0.0013324280927281432],"end_effector_yaw_offset_degrees":0.5568918776243847},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017241122757567,0.00012276469228652935,-0.0009569079230256996],"end_effector_yaw_offset_degrees":0.2300838438296251}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019061968661306249,0.0015773245229529498],"position_m":[0.21539380313386935,-0.01872267547704705,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004082734765021213,-0.002976418578665626],"position_m":[0.21011726523497878,-0.38197641857866566,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0034210700155178223,0.001264505789917986],"position_m":[0.21362107001551783,0.29686450578991797,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003507628825397945,-0.003119379422058888],"position_m":[0.34829237117460204,0.1287806205779411,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ffb4369152319e07291b9a2c6b68f98f3d43557378de1f5bacb925a76c97bd3","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9257/tex_ceiling_textures_5888/tex_floor_textures_7124/tex_table_textures_6542/tex_wall_textures_1885","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":1279754010820683307,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":1279754010820683307,"visual_seed":1279754010820683307,"scene_id":"lab_003","finished_at":"2026-09-04T10:08:10"}
+{"episode_id":"ep_000057","started_at":"2026-09-04T10:08:13","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.29476585241940756,-1.09627988003568,0.71338606911949],"aabb_xy":[[0.23476585182339132,-1.1510923525809036],[0.3547658530154237,-1.0414674074904566]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[0.10652312802301778,1.7754614882109316,0.71338606911949],"aabb_xy":[[0.021523129330943136,1.7434756248160528],[0.19152312671509242,1.8074473516058105]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.5822245260165713,-1.689459654733371,0.71338606911949],"aabb_xy":[[0.5751842160830344,-1.7694596541330427],[0.5892648359501084,-1.6094596553337]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.07686464479058153,0.24246416241942415,0.71338606911949],"aabb_xy":[[-0.1468646412005433,0.2220262267677424],[-0.00686464838061973,0.2629020980711058]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[0.029925594797743815,-1.2682453579711137,0.71338606911949],"aabb_xy":[[-0.034074404496424404,-1.332231498339968],[0.09392559409191203,-1.2042592176022595]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[-0.2580664821176185,-1.3566047897891864,0.71338606911949],"aabb_xy":[[-0.30806648076353976,-1.4065243334486488],[-0.20806648347169737,-1.306685246129724]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.1299464396093949,-0.7196455720125849,0.71338606911949],"aabb_xy":[[-0.13338711584945206,-0.7235070049869494],[-0.12650576336933772,-0.7157841390382205]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.3156637910156305,0.05196564788401137,0.71338606911949],"aabb_xy":[[-0.32813114912536623,0.03950032325068787],[-0.30319643290589493,0.06443097251733487]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[-0.5985464976323552,-2.477255648675192,0.71338606911949],"aabb_xy":[[-0.6785403212109135,-2.5572556512680342],[-0.518552674053797,-2.397255646082351]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[-0.43089264120159826,1.5747891239357972,0.71338606911949],"aabb_xy":[[-0.43635058683861827,1.4947891206281378],[-0.42543469556457814,1.654789127243456]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[-0.23746750857668297,-1.8439899994811162,0.71338606911949],"aabb_xy":[[-0.2824600952951334,-1.888989998755565],[-0.19247492185823253,-1.7989900002066674]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[0.6141456933684446,-2.362106509776868,0.71338606911949],"aabb_xy":[[0.5441456917661652,-2.3755393029785257],[0.6841456949707242,-2.3486737165752105]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[0.6526749500562501,-0.16711716693585155,0.71338606911949],"aabb_xy":[[0.6454311840100048,-0.24711716513945392],[0.6599187161024954,-0.08711716873224917]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[0.2851221853294369,0.7511720139672429,0.71338606911949],"aabb_xy":[[0.26262218481739624,0.7286801556018443],[0.30762218584147744,0.773663872332641]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.2858602523038156,-1.64923658686302,0.71338606911949],"aabb_xy":[[0.2218602559082426,-1.7131998752817534],[0.34986024869938875,-1.5852732984442863]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.08500983119161065,-1.9099433221777635,0.71338606911949],"aabb_xy":[[-0.10859495465550549,-1.9749433244231953],[-0.061424707727715785,-1.8449433199323317]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[0.4648147968493066,0.7152746766474136,0.71338606911949],"aabb_xy":[[0.45670114217592944,0.7071688601933845],[0.47292845152268365,0.7233804931014427]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[0.2900805305109966,-2.56367166896674,0.71338606911949],"aabb_xy":[[0.28092065156711993,-2.570202887010277],[0.2992404094548731,-2.557140450923203]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.2388924857638755,0.8167494585341712,0.71338606911949],"aabb_xy":[[-0.2444741573980043,0.8042494587163956],[-0.23331081412974677,0.8292494583519466]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[-0.048630914955335225,1.1228826040511408,0.71338606911949],"aabb_xy":[[-0.0661309152003846,1.1053828162115737],[-0.031130914710285836,1.1403823918907074]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[-0.6437264005817689,0.7529658056979938,0.71338606911949],"aabb_xy":[[-0.6490639762477735,0.727965804768854],[-0.6383888249157643,0.7779658066271335]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[-0.18251739443728887,-2.5305264966579,0.71338606911949],"aabb_xy":[[-0.2525173978288508,-2.5658422703613306],[-0.11251739104572687,-2.495210722954469]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[-0.3061837680257925,0.49456254698156243,0.71338606911949],"aabb_xy":[[-0.36117924584645184,0.43956254554765545],[-0.25118829020513306,0.5495625484154694]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[0.31641275579261974,0.8286135040323388,0.71338606911949],"aabb_xy":[[0.30378596850542333,0.8190674303307657],[0.32903954307981603,0.8381595777339115]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6597207039573073,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6396.png","name":"6396"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6396.png","name":"6396"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6835.png","name":"6835"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3973.png","name":"3973"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4903.png","name":"4903"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6424.png","name":"6424"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":674.3501656929415,"rotation_z_degrees":283.0099642932022,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019087432468452827,0.014303135855394344,-0.006586180274147596]},{"name":"camera_2","offset_m":[-0.007229308279719104,0.004395440900431598,-0.00534679890666844]},{"name":"camera_3","offset_m":[-0.01276404177101222,-0.010856709522141763,0.01364857046443416]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016165061771223998,0.00022873812837039204,0.000847217460661959],"end_effector_yaw_offset_degrees":0.597740277054637},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000598514624996192,0.0016722760250536517,0.0018233279162896093],"end_effector_yaw_offset_degrees":0.6522029193137506},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001207527064981405,-0.0010016136528174565,0.00038072926272299116],"end_effector_yaw_offset_degrees":-0.01046320819319102}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002107464316338319,0.0015901226039911022],"position_m":[0.2194074643163383,-0.018709877396008896,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005296159706986879,-0.0031033408936471498],"position_m":[0.2147296159706987,-0.38210334089364717,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003673623232470588,0.004121308969868484],"position_m":[0.2065263767675294,0.2997213089698685,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00413288730170538,-0.003621375554650187],"position_m":[0.34766711269829464,0.1282786244453498,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"727debd9525f47bf005302d1f8df4fd19db183412869a945e792e375e7f1a3ce","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0057.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6396/tex_ceiling_textures_6424/tex_floor_textures_4903/tex_table_textures_6835/tex_wall_textures_3973","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5491063475127878765,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5491063475127878765,"visual_seed":5491063475127878765,"scene_id":"lab_003","finished_at":"2026-09-04T10:11:08"}
+{"episode_id":"ep_000058","started_at":"2026-09-04T10:11:12","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[-0.16764072937825225,-1.5172894316485366,0.71338606911949],"aabb_xy":[[-0.17563471795595562,-1.5252895117436267],[-0.15964674080054883,-1.509289351553446]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[0.5112813615556919,0.20779695587797642,0.71338606911949],"aabb_xy":[[0.5025673925057572,0.18529695521878817],[0.5199953306056262,0.23029695653716462]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.11199937142479444,1.5359057427810243,0.71338606911949],"aabb_xy":[[0.10495792047404684,1.5288789910432299],[0.11904082237554203,1.5429324945188188]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[-0.23366394545126556,-1.7367913990617994,0.71338606911949],"aabb_xy":[[-0.251457452386182,-1.754591144657597],[-0.21587043851634913,-1.7189916534660017]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.5068283845881412,1.6244030780633127,0.71338606911949],"aabb_xy":[[0.44182838358764065,1.5736167129086376],[0.5718283855886417,1.6751894432179875]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.3009861062254826,0.9084416752227802,0.71338606911949],"aabb_xy":[[0.22098610479535535,0.8289245202101706],[0.38098610765560975,0.9879588302353896]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.3415538770971436,0.2835593793180333,0.71338606911949],"aabb_xy":[[0.33764000390172105,0.27481036391147656],[0.3454677502925661,0.2923083947245901]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[-0.6283251156745088,0.3795788073190831,0.71338606911949],"aabb_xy":[[-0.6629161985285539,0.314578807034052],[-0.5937340328204634,0.4445788076041141]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[-0.1344757167455778,0.6803803828231945,0.71338606911949],"aabb_xy":[[-0.14583745139886392,0.6690119164169063],[-0.1231139820922916,0.6917488492294824]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[-0.6053541124414585,-1.4057970394567532,0.71338606911949],"aabb_xy":[[-0.638794287637478,-1.439240665287683],[-0.5719139372454388,-1.3723534136258229]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[0.43903053602398834,-1.6327257072487105,0.71338606911949],"aabb_xy":[[0.4165305357804729,-1.6449303419084822],[0.4615305362675037,-1.6205210725889383]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[0.4308938612462967,-0.9500995378419701,0.71338606911949],"aabb_xy":[[0.42675800491359656,-0.9875995372863273],[0.43502971757899694,-0.9125995383976133]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.4276291532307459,-0.7744631269742308,0.71338606911949],"aabb_xy":[[0.372655431194413,-0.8294631265384641],[0.4826028752670788,-0.7194631274099977]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.3051848053935368,1.7556306421648524,0.71338606911949],"aabb_xy":[[-0.36918480456330677,1.70886395504589],[-0.2411848062237669,1.802397329283815]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[-0.5657703367570088,-0.26912646942011875,0.71338606911949],"aabb_xy":[[-0.5860546394804075,-0.2894090945628275],[-0.54548603403361,-0.24884384427740983]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.6876552881188613,1.5655340489726126,0.71338606911949],"aabb_xy":[[0.6677642482385212,1.552878237687916],[0.7075463279992017,1.5781898602573097]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[-0.10687802168668015,-0.02534489705155174,0.71338606911949],"aabb_xy":[[-0.12937444312054425,-0.04784489685829918],[-0.08438160025281605,-0.002844897244804301]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.44723141101310726,0.34741040144410107,0.71338606911949],"aabb_xy":[[0.41293449999536663,0.31311351523415965],[0.4815283220308479,0.3817072876540424]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[0.6304498983297164,-1.6755690137762813,0.71338606911949],"aabb_xy":[[0.6079507626034895,-1.6980690145545443],[0.6529490340559434,-1.6530690129980183]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.2745980376358632,1.310322480014424,0.71338606911949],"aabb_xy":[[0.23709803746399127,1.2776217446315166],[0.31209803780773515,1.343023215397331]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[0.1676820520245016,1.4274069742290076,0.71338606911949],"aabb_xy":[[0.13268205212848272,1.4190327387170674],[0.20268205192052047,1.4357812097409475]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6587545011948692,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9657.png","name":"9657"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9657.png","name":"9657"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7034.png","name":"7034"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5014.png","name":"5014"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4747.png","name":"4747"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9802.png","name":"9802"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":741.1301261914305,"rotation_z_degrees":3.545073023477787,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016670581193106073,0.004563917859045197,0.0025131334296679547]},{"name":"camera_2","offset_m":[-0.016684840766193695,0.007315683535542489,-0.014056319499597021]},{"name":"camera_3","offset_m":[0.018379277587856218,-0.0013151057466881284,0.0067866464080396545]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013171025873156758,0.0002779131468354933,0.0006171660648912618],"end_effector_yaw_offset_degrees":0.8463428387258494},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011907648696671551,-0.0018397732429352206,-0.0012449288126583865],"end_effector_yaw_offset_degrees":0.3863397502314838},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001591270470870047,0.0009437030070411252,0.0014952149451593856],"end_effector_yaw_offset_degrees":-0.912561799338484}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015003131455248089,0.0012696900617373144],"position_m":[0.2188003131455248,-0.019030309938262685,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005212198628906416,-0.00144461534358165],"position_m":[0.21472121986289064,-0.38044461534358165,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003980657542254857,-0.0007338745430460394],"position_m":[0.21418065754225485,0.29486612545695395,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004905174909194969,3.5450899023958815e-05],"position_m":[0.34689482509080505,0.13193545089902395,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0c151ce6aa7b70188807fe2af02c9f8304939e704e90c9d984512356e8177c80","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9657/tex_ceiling_textures_9802/tex_floor_textures_4747/tex_table_textures_7034/tex_wall_textures_5014","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":888299289188674829,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":888299289188674829,"visual_seed":888299289188674829,"scene_id":"lab_003","finished_at":"2026-09-04T10:14:09"}
+{"episode_id":"ep_000059","started_at":"2026-09-04T10:14:14","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[-0.33296452971059465,0.7728728607443363,0.71338606911949],"aabb_xy":[[-0.34166249200131,0.7607478864368616],[-0.3242665674198794,0.7849978350518111]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[-0.3012757383004454,-1.9032296197658711,0.71338606911949],"aabb_xy":[[-0.35627573792219125,-1.958213312553344],[-0.24627573867869956,-1.8482459269783986]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[-0.4313244901695777,0.5206245765178346,0.71338606911949],"aabb_xy":[[-0.4963244911700782,0.4698382113631596],[-0.36632448916907717,0.5714109416725095]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.4158323695566831,0.10497551264602967,0.71338606911949],"aabb_xy":[[-0.42667284778319803,0.08778923135538086],[-0.4049918913301682,0.12216179393667848]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.15688233001507068,1.4521127921261523,0.71338606911949],"aabb_xy":[[-0.162976957903189,1.4435433975744836],[-0.15078770212695236,1.460682186677821]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.6426647551305116,-1.253706183890151,0.71338606911949],"aabb_xy":[[0.637765462823948,-1.2813831031927196],[0.647564047437075,-1.226029264587582]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.5454707958632592,-1.3142573706092993,0.71338606911949],"aabb_xy":[[0.4954878456757799,-1.3642573702518594],[0.5954537460507385,-1.2642573709667386]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[0.6181067003486027,1.3665772292643052,0.71338606911949],"aabb_xy":[[0.5481066969570406,1.3312614555608742],[0.6881067037401646,1.401893002967736]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[0.3017928735418992,-2.351299834434709,0.71338606911949],"aabb_xy":[[0.2938695933031509,-2.3737998346727123],[0.30971615378064754,-2.3287998341967056]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.3659956060153887,-1.4508189542979464,0.71338606911949],"aabb_xy":[[-0.4159956076768834,-1.5008173965536489],[-0.3159956043538939,-1.4008205120422434]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[0.5590078078725058,0.4687525050063579,0.71338606911949],"aabb_xy":[[0.5354226844086111,0.4037525027609261],[0.5825929313364008,0.5337525072517897]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.5173856238458743,-1.574050017384621,0.71338606911949],"aabb_xy":[[0.510141857799629,-1.6540500155882232],[0.5246293898921196,-1.4940500191810184]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[0.41933298851445855,-1.502123705842165,0.71338606911949],"aabb_xy":[[0.39481936441745275,-1.5263882991442015],[0.44384661261146446,-1.4778591125401286]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.5795806841005687,-2.0611617026980817,0.71338606911949],"aabb_xy":[[-0.6595806812601439,-2.072709303655899],[-0.49958068694099333,-2.0496141017402647]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.34395258136491336,-1.8263027954501831,0.71338606911949],"aabb_xy":[[0.3201163637243083,-1.91630279625867],[0.3677887990055184,-1.7363027946416971]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.11723027249554818,0.49868887535059425,0.71338606911949],"aabb_xy":[[-0.12207386725677817,0.49383722287161025],[-0.11238667773431822,0.5035405278295785]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.04316134336848787,-1.3818037329974873,0.71338606911949],"aabb_xy":[[-0.13316134010409808,-1.4349871963147816],[0.04683865336712234,-1.3286202696801925]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[0.4333641191643187,1.2230090462460925,0.71338606911949],"aabb_xy":[[0.3833648439958826,1.1730090449701454],[0.48336339433275494,1.2730090475220397]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[-0.3142566073933401,-0.865074483695685,0.71338606911949],"aabb_xy":[[-0.31839246372604035,-0.9025744831400421],[-0.31012075106063997,-0.8275744842513281]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.19827769643046145,0.7706201369113574,0.71338606911949],"aabb_xy":[[0.19186388278727648,0.764210316663689],[0.20469151007364636,0.7770299571590257]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.519235245015985,-2.2319607468835923,0.71338606911949],"aabb_xy":[[0.4355130195159025,-2.321960750418288],[0.6029574705160674,-2.1419607433488963]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[-0.18815188147761552,1.8247956223006745,0.71338606911949],"aabb_xy":[[-0.19519333242836312,1.8177688705628798],[-0.18111043052686793,1.8318223740384687]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.5473205580345244,-0.7117548798211524,0.71338606911949],"aabb_xy":[[-0.557732116715008,-0.7171006131570508],[-0.5369089993540406,-0.7064091464852538]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_23","position":[-0.4819275303979831,-2.3437445420056866,0.71338606911949],"aabb_xy":[[-0.5459232277930797,-2.407744540306395],[-0.41793183300288644,-2.2797445437049775]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[0.014752449284595959,-1.5111026683339916,0.71338606911949],"aabb_xy":[[0.002819714922767891,-1.5234848211418508],[0.026685183646424027,-1.498720515526132]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[-0.615167859742594,-0.8871297451861471,0.71338606911949],"aabb_xy":[[-0.6791678616549365,-0.9430408944441575],[-0.5511678578302518,-0.8312185959281366]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[-0.5440252941751064,-0.5707506310757609,0.71338606911949],"aabb_xy":[[-0.5890178808935567,-0.6157506303502095],[-0.49903270745665584,-0.525750631801312]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[-0.3517221265397255,-0.4268911650276128,0.71338606911949],"aabb_xy":[[-0.3618751420938749,-0.46296070660035304],[-0.34156911098557613,-0.39082162345487237]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_28","position":[0.02671661250497548,-2.0319139136835322,0.71338606911949],"aabb_xy":[[-0.05328338856814485,-2.0416919600209167],[0.10671661357809581,-2.022135867346148]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_29","position":[-0.12825653672473425,-2.521127254611057,0.71338606911949],"aabb_xy":[[-0.1319597980538731,-2.524829272919774],[-0.12455327539559537,-2.5174252363023384]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_30","position":[0.0705540165250158,-1.044369786761258,0.71338606911949],"aabb_xy":[[0.006554014475283809,-1.0844642698505662],[0.1345540185747478,-1.0042753036719503]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[-0.539581462854276,1.03432066265023,0.71338606911949],"aabb_xy":[[-0.6035814631147468,0.9893118632973018],[-0.47558146259380524,1.0793294620031577]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_32","position":[-0.26507007889713213,-1.303661455111535,0.71338606911949],"aabb_xy":[[-0.28261677381325107,-1.3411614566757863],[-0.2475233839810132,-1.2661614535472838]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6607263374147606,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9353.png","name":"9353"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9353.png","name":"9353"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4042.png","name":"4042"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3830.png","name":"3830"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7207.png","name":"7207"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/225.png","name":"225"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":789.5864491296579,"rotation_z_degrees":133.3777091919693,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01564196043108036,-0.004856963563406303,0.00415941934053814]},{"name":"camera_2","offset_m":[-0.017833107940528833,-0.01512912560515264,-0.00015446004645496003]},{"name":"camera_3","offset_m":[-0.016415657192418127,0.0058553571900134445,0.009166034404995194]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013939847265549495,-0.0018784214338950097,0.00031390836438971535],"end_effector_yaw_offset_degrees":0.27609857621625733},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00017165355378725923,0.0012903815997293965,0.00023482669432555716],"end_effector_yaw_offset_degrees":0.48735552379937297},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[2.091409176773265e-06,0.0014820710118338375,-0.0003240879371563658],"end_effector_yaw_offset_degrees":-0.32188716398011774}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003636401084878585,-0.002667780474709244],"position_m":[0.22093640108487858,-0.022967780474709244,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001481163068252446,-0.0035002802727213678],"position_m":[0.21568116306825244,-0.38250028027272137,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002296884311094376,-0.002880857379128371],"position_m":[0.21249688431109437,0.2927191426208716,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-1.8645442688444355e-05,-0.0040034488003435325],"position_m":[0.3517813545573116,0.12789655119965646,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26eed5445c43097953f5d50f01b590ca8bdecf2dec81225c26f8b3a07018c4d0","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0059.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9353/tex_ceiling_textures_225/tex_floor_textures_7207/tex_table_textures_4042/tex_wall_textures_3830","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2228351985042024673,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2228351985042024673,"visual_seed":2228351985042024673,"scene_id":"lab_003","finished_at":"2026-09-04T10:17:12"}
+{"episode_id":"ep_000060","started_at":"2026-09-04T10:17:17","dimensions":{"distractor":{"count":29,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.4287495378943876,1.0631469986059705,0.71338606911949],"aabb_xy":[[-0.4359933039406329,0.9831470004023681],[-0.42150577184814225,1.1431469968095729]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[0.19906007516439272,1.507565656042201,0.71338606911949],"aabb_xy":[[0.19027884801715655,1.4987859087536706],[0.207841302311629,1.5163454033307313]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.4524396867676256,-1.558276388925157,0.71338606911949],"aabb_xy":[[-0.45985214230901406,-1.564127599346785],[-0.4450272312262371,-1.552425178503529]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.42388438443787346,1.1731434760317243,0.71338606911949],"aabb_xy":[[0.3738843831540334,1.1231646216411022],[0.4738843857217133,1.2231223304223464]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[-0.2902914735117293,0.9401726582791716,0.71338606911949],"aabb_xy":[[-0.32460775068634723,0.890172658305994],[-0.25597519633711135,0.9901726582523495]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.4199978108532032,-0.9627029281423192,0.71338606911949],"aabb_xy":[[0.404442041442938,-0.9782533613867265],[0.4355535802634685,-0.9471524948979121]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.14731073827347507,-1.4348893632983941,0.71338606911949],"aabb_xy":[[0.14026928732272748,-1.4419161150361883],[0.15435218922422267,-1.4278626115605995]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.2916811287665312,-1.4240597351982311,0.71338606911949],"aabb_xy":[[-0.29980881695984446,-1.4329733436089385],[-0.283553440573218,-1.4151461267875234]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.2566425180109321,1.3841202891976359,0.71338606911949],"aabb_xy":[[-0.2675482940984948,1.3041202927988065],[-0.24573674192336936,1.4641202855964648]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.18567512336601422,-1.5338403405246794,0.71338606911949],"aabb_xy":[[0.12067512333171149,-1.5805410172050065],[0.25067512340031695,-1.487139663844352]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[0.39091243374238016,-2.1887514258604015,0.71338606911949],"aabb_xy":[[0.32691243152197313,-2.23312450998569],[0.4549124359627872,-2.144378341735113]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.5762312168228942,0.28825036095875545,0.71338606911949],"aabb_xy":[[-0.6402312141252405,0.2438839339908987],[-0.5122312195205477,0.3326167879266122]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[-0.3350164694625021,0.2950879931518102,0.71338606911949],"aabb_xy":[[-0.35269210005110035,0.2774077768724074],[-0.3173408388739037,0.3127682094312129]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.5403340816694235,-1.0943461137223103,0.71338606911949],"aabb_xy":[[0.5178340814259081,-1.1065507483820822],[0.5628340819129389,-1.0821414790625383]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[0.03667407346908069,0.6783488490099576,0.71338606911949],"aabb_xy":[[-0.0043438699172901885,0.6283488483790003],[0.07769201685545157,0.728348849640915]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[0.11457772173437275,-2.1164554258647574,0.71338606911949],"aabb_xy":[[0.05057772256460282,-2.16322211298372],[0.1785777209041427,-2.069688738745795]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.12479388033048733,-1.875604634925807,0.71338606911949],"aabb_xy":[[-0.13129551683849194,-1.8853724569521169],[-0.11829224382248271,-1.8658368128994973]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[-0.43195667006141086,1.2677337054656719,0.71338606911949],"aabb_xy":[[-0.4969566710619113,1.216947340310997],[-0.3669566690609103,1.3185200706203468]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.3314022895222658,-1.2355468633853492,0.71338606911949],"aabb_xy":[[-0.33673480417687884,-1.2408711916305846],[-0.3260697748676529,-1.2302225351401135]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.09196176219304786,-0.5839986019564538,0.71338606911949],"aabb_xy":[[0.07446176193371125,-0.5980901441452267],[0.10946176245238451,-0.5699070597676814]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[0.3061214747817287,-0.8831071141847437,0.71338606911949],"aabb_xy":[[0.2941887404199007,-0.8954892669926032],[0.3180542091435568,-0.8707249613768845]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[-0.26828359256276907,0.4695643269533587,0.71338606911949],"aabb_xy":[[-0.31828359120869026,0.41964478329389626],[-0.21828359391684787,0.5194838706128211]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[-0.3096661192874193,1.7912102448042542,0.71338606911949],"aabb_xy":[[-0.37466612039336256,1.7662448717361259],[-0.244666118181476,1.8161756178723825]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[-0.35952702673939935,-1.7926005492497223,0.71338606911949],"aabb_xy":[[-0.3819917967108044,-1.815100550128583],[-0.3370622567679942,-1.770100548370862]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[-0.10501827356083471,0.15895507823842037,0.71338606911949],"aabb_xy":[[-0.15500250926901193,0.10895507942492477],[-0.055034037852657466,0.20895507705191596]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[0.4082706272674188,-2.024862298235458,0.71338606911949],"aabb_xy":[[0.35827062782722313,-2.0748302227197737],[0.45827062670761437,-1.974894373751141]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[-0.23954057027671555,-0.3905361564742891,0.71338606911949],"aabb_xy":[[-0.2527715158113968,-0.4037635754962884],[-0.22630962474203423,-0.37730873745228954]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_27","position":[-0.2090299781071897,-2.0544801119375884,0.71338606911949],"aabb_xy":[[-0.24494348253217937,-2.090393620154343],[-0.17311647368219998,-2.0185666037208336]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[0.4958737006931766,-0.3566249001189501,0.71338606911949],"aabb_xy":[[0.48784743006255066,-0.3653763950963027],[0.5038999713238026,-0.3478734051415975]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6521294905359912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9595.png","name":"9595"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9595.png","name":"9595"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8437.png","name":"8437"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8072.png","name":"8072"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5142.png","name":"5142"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4686.png","name":"4686"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":838.7302856347139,"rotation_z_degrees":210.56491970409624,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00639126295663023,0.013348197895182646,0.019168838753350678]},{"name":"camera_2","offset_m":[0.002719058952851402,0.0073993554439603995,-0.012662935966472149]},{"name":"camera_3","offset_m":[0.006994282665240634,-0.0025988251153564526,0.006808274418800681]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007069595020880023,0.0003828288311450681,0.0016155407296956194],"end_effector_yaw_offset_degrees":0.32538062786912136},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013461088120156018,0.001666727277479063,-0.0006211972374964723],"end_effector_yaw_offset_degrees":-0.9434007178036115},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010344136080370863,0.001379095080668761,0.0003331992729844091],"end_effector_yaw_offset_degrees":0.9034509653483724}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0049489047490470705,0.002940973170207791],"position_m":[0.21235109525095291,-0.017359026829792207,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031408137663854595,0.004862389589146968],"position_m":[0.21105918623361455,-0.374137610410853,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00034376013231373834,0.003248749034905016],"position_m":[0.20985623986768626,0.298848749034905,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003933301482310601,0.003823758203741202],"position_m":[0.3478666985176894,0.1357237582037412,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fdf7ae8fec46d25431a524cb3983552423a56642227c6e100d47452c29e823b0","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9595/tex_ceiling_textures_4686/tex_floor_textures_5142/tex_table_textures_8437/tex_wall_textures_8072","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3538061152836272296,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3538061152836272296,"visual_seed":3538061152836272296,"scene_id":"lab_003","finished_at":"2026-09-04T10:20:25"}
+{"episode_id":"ep_000061","started_at":"2026-09-04T10:20:28","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[-0.3927598087122631,0.6537433007479927,0.71338606911949],"aabb_xy":[[-0.404004864282881,0.6425015030238973],[-0.38151475314164535,0.6649850984720879]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[-0.45836010110845704,1.7188471671379015,0.71338606911949],"aabb_xy":[[-0.5083601014690231,1.6688671799282984],[-0.40836010074789103,1.7688271543475043]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[0.3092535365057629,1.3540754057281705,0.71338606911949],"aabb_xy":[[0.22925353324791992,1.2740788979361866],[0.3892535397636058,1.4340719135201545]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.5702541896250212,-0.02688254870981277,0.71338606911949],"aabb_xy":[[-0.5820223764196788,-0.11188254861503436],[-0.5584860028303638,0.0581174511954088]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.2631976649451966,-2.429659713573856,0.71338606911949],"aabb_xy":[[0.17319766522202237,-2.4527330661090354],[0.3531976646683707,-2.4065863610386757]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[0.4113976853006982,-0.424525921155245,0.71338606911949],"aabb_xy":[[0.4072817351886255,-0.42864147618809045],[0.4155136354127708,-0.42041036612239946]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.18252086109608145,0.20843474898848546,0.71338606911949],"aabb_xy":[[-0.2525208637326678,0.1883298839926199],[-0.11252085845949508,0.2285396139843509]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[0.41718114536558715,0.8761852957533116,0.71338606911949],"aabb_xy":[[0.37968114384995544,0.8649585227371667],[0.45468114688121886,0.8874120687694568]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.15764784485682348,-2.534844421769376,0.71338606911949],"aabb_xy":[[0.14886661770958726,-2.5436241690579067],[0.1664290720040597,-2.526064674480846]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.24393477234195926,-1.7373409614501214,0.71338606911949],"aabb_xy":[[-0.3339347690775694,-1.790524424767416],[-0.153934775606349,-1.684157498132827]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[0.2885472254395707,0.5275106432577186,0.71338606911949],"aabb_xy":[[0.2245472251790999,0.4825018439047906],[0.3525472257000415,0.5725194426106466]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[-0.09936323305636441,1.5138191636298388,0.71338606911949],"aabb_xy":[[-0.13280340825238401,1.4803755377989087],[-0.0659230578603448,1.547262789460769]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.13871814664831916,1.6073952085663366,0.71338606911949],"aabb_xy":[[0.1286364395697457,1.5273952106742217],[0.14879985372689264,1.687395206458451]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[-0.0912818678080849,-1.251077496452371,0.71338606911949],"aabb_xy":[[-0.10143488336223425,-1.2871470380251113],[-0.0811288522539355,-1.2150079548796306]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[-0.0010117434477906473,-1.3697805315740272,0.71338606911949],"aabb_xy":[[-0.013883646948730786,-1.4497805319878634],[0.011860160053149492,-1.289780531160191]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.18526794393928914,-0.3704871163238992,0.71338606911949],"aabb_xy":[[-0.2402679431158786,-0.4254767910988568],[-0.13026794476269962,-0.3154974415489415]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[-0.6415376778525089,-0.9059317279819816,0.71338606911949],"aabb_xy":[[-0.6790376780243808,-0.9386324633648886],[-0.6040376776806369,-0.8732309925990742]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.1657825171680518,1.6850056610655506,0.71338606911949],"aabb_xy":[[-0.19362755394865894,1.6542211623272391],[-0.1379374803874447,1.7157901598038625]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[0.6710385752674339,-0.5127241884069487,0.71338606911949],"aabb_xy":[[0.6351250708424442,-0.5486376966237033],[0.7069520796924235,-0.47681068019019407]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[0.36066212768705186,-2.1840383553087097,0.71338606911949],"aabb_xy":[[0.31941331665713707,-2.2390383548209267],[0.40191093871696654,-2.129038355796492]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[0.41325516118745886,-0.0035632558203291254,0.71338606911949],"aabb_xy":[[0.3961530832290907,-0.02067006135159888],[0.430357239145827,0.013543549710940628]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.5459131592091975,1.4169428367396146,0.71338606911949],"aabb_xy":[[-0.5680856861858483,1.3947671695834916],[-0.5237406322325466,1.4391185038957377]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[0.534853973869974,1.5442480733209885,0.71338606911949],"aabb_xy":[[0.5275716574933101,1.4542480697114792],[0.5421362902466375,1.6342480769304972]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[0.0706683378766706,-2.153705937317132,0.71338606911949],"aabb_xy":[[0.054783844611345445,-2.1680588776159557],[0.08655283114199575,-2.139352997018307]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.05572199754713181,-1.6399166686541795,0.71338606911949],"aabb_xy":[[0.01822199725495699,-1.6439581440547832],[0.09322199783930663,-1.6358751932535762]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[-0.5745591695406757,-1.956600675617604,0.71338606911949],"aabb_xy":[[-0.5837190484845524,-1.9631318936611413],[-0.5653992905967992,-1.9500694575740671]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6597540539996577,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8132.png","name":"8132"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8132.png","name":"8132"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6464.png","name":"6464"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4839.png","name":"4839"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3603.png","name":"3603"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5686.png","name":"5686"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":825.7537978857924,"rotation_z_degrees":109.92919761440267,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008252746315537005,0.017689748139905693,0.00847155408880131]},{"name":"camera_2","offset_m":[0.018287490208218623,0.0013326932291151256,-0.0033184251556217827]},{"name":"camera_3","offset_m":[-0.019164277387470712,-0.008096633898756643,0.011907609876651081]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008634275022965641,0.0016697166474242933,-0.0015563910461671236],"end_effector_yaw_offset_degrees":-0.5551470279439676},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00022065760200442415,0.00139333368271825,-0.0008012930219734068],"end_effector_yaw_offset_degrees":-0.4613128159328108},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002345207350764472,-0.0011984830792958153,0.00023868326067388737],"end_effector_yaw_offset_degrees":0.9654073649914929}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002185622388935333,-0.0038602855984837038],"position_m":[0.21511437761106467,-0.024160285598483704,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008802663743289786,-0.0026669963496805294],"position_m":[0.21508026637432898,-0.38166699634968054,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027045958831432345,0.004448600993895511],"position_m":[0.21290459588314323,0.30004860099389546,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004391601279315649,-0.004202473659147796],"position_m":[0.34740839872068435,0.12769752634085219,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"370fd33cd4d0e7b3f17dc1c59b3f4b2ec410e20c3e4bbfc6e4e3ce8c228f3170","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0061.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8132/tex_ceiling_textures_5686/tex_floor_textures_3603/tex_table_textures_6464/tex_wall_textures_4839","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":771298259010124393,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":771298259010124393,"visual_seed":771298259010124393,"scene_id":"lab_003","finished_at":"2026-09-04T10:23:23"}
+{"episode_id":"ep_000062","started_at":"2026-09-04T10:23:27","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[0.4794845272487773,-0.5943434296464702,0.71338606911949],"aabb_xy":[[0.4294845286028561,-0.6442629733059325],[0.5294845258946985,-0.5444238859870077]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[0.5631654845878526,-2.472483044087226,0.71338606911949],"aabb_xy":[[0.5512934015763516,-2.557483043780876],[0.5750375675993539,-2.3874830443935755]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.5577486240054128,0.3157820917892593,0.71338606911949],"aabb_xy":[[-0.5860783339539531,0.31132134959554236],[-0.5294189140568727,0.3202428339829765]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.5180506671431683,1.594186455644365,0.71338606911949],"aabb_xy":[[-0.5820506644455146,1.549820028676508],[-0.45405066984082176,1.6385528826122215]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[0.4829197027065808,-1.490678739689538,0.71338606911949],"aabb_xy":[[0.47206809645770514,-1.501538030417189],[0.49377130895545635,-1.479819448961887]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[0.061444342793584794,-0.7216965276258869,0.71338606911949],"aabb_xy":[[0.006451131456448047,-0.7766965279646807],[0.11643755413072157,-0.6666965272870934]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.45948690324463715,-1.390423030347585,0.71338606911949],"aabb_xy":[[0.45540874533758735,-1.3945040105958482],[0.46356506115168683,-1.3863420500993215]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.049923902585070734,-0.29860267002776153,0.71338606911949],"aabb_xy":[[-0.05550557421919949,-0.311102669845537],[-0.04434223095094197,-0.28610267020998603]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.6887885597818633,0.6031064933004253,0.71338606911949],"aabb_xy":[[0.6796286808379868,0.5965752752568882],[0.69794843872574,0.6096377113439624]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[-0.4040693129323929,-0.7108893513803607,0.71338606911949],"aabb_xy":[[-0.4121056476336777,-0.7189274706847774],[-0.396032978231108,-0.7028512320759438]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.32073255502602,1.779155259183772,0.71338606911949],"aabb_xy":[[-0.3847325536125924,1.732148295784263],[-0.2567325564394475,1.8261622225832805]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.3279350289968965,1.107285950969453,0.71338606911949],"aabb_xy":[[0.27296130696056364,1.0522859514052199],[0.3829087510332294,1.1622859505336862]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[0.3273067793310127,-1.7636189671905007,0.71338606911949],"aabb_xy":[[0.3171537637768633,-1.7996885087632408],[0.33745979488516203,-1.7275494256177601]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.4762662400785318,-2.0378689279807327,0.71338606911949],"aabb_xy":[[0.41626624023196507,-2.0946875501737714],[0.5362662399250986,-1.981050305787694]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[-0.3195420720786981,-1.1625199058976559,0.71338606911949],"aabb_xy":[[-0.3895420684886598,-1.1829578415493374],[-0.24954207566873624,-1.142081970245974]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.07284238947600996,1.25709688473352,0.71338606911949],"aabb_xy":[[0.04784239031037685,1.2501446390281634],[0.09784238864164307,1.2640491304388766]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[0.568000559031614,-1.0717924019536826,0.71338606911949],"aabb_xy":[[0.4880005579584936,-1.081570448291067],[0.6480005601047343,-1.0620143556162982]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.336082162860895,-2.0185421687775866,0.71338606911949],"aabb_xy":[[-0.40008216520369655,-2.063483020021719],[-0.2720821605180934,-1.9736013175334544]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.5963646348537601,1.7474388198742594,0.71338606911949],"aabb_xy":[[0.5924041510840258,1.7397709552887388],[0.6003251186234945,1.75510668445978]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.11160872992228033,-1.2221731012703192,0.71338606911949],"aabb_xy":[[-0.12169043700085377,-1.3021730991624336],[-0.10152702284370682,-1.1421731033782043]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.24559883947760724,0.33645814630213655,0.71338606911949],"aabb_xy":[[-0.2705988390293457,0.32631566243700183],[-0.2205988399258687,0.3466006301672713]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.5238625342843619,1.0263114524882946,0.71338606911949],"aabb_xy":[[-0.5878625356923524,0.97452250096437],[-0.4598625328763711,1.0781004040122193]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[0.3493029512510566,0.45008171208051895,0.71338606911949],"aabb_xy":[[0.32638723836600675,0.42717741494409545],[0.37221866413610655,0.47298600921694245]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.05656068261038527,1.5778804680377063,0.71338606911949],"aabb_xy":[[-0.14656067934599548,1.5246970047204116],[0.033439314125224946,1.6310639313550006]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.1333622720352564,0.5726920998675373,0.71338606911949],"aabb_xy":[[-0.16836227338673812,0.5523323639107165],[-0.09836227068377466,0.5930518358243582]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[0.5210710996172867,0.45569550083573596,0.71338606911949],"aabb_xy":[[0.49058684949025655,0.40569550105423996],[0.5515553497443169,0.5056955006172319]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_26","position":[0.6674556388421713,-0.7679441209535889,0.71338606911949],"aabb_xy":[[0.6613610109540531,-0.7765135155052576],[0.6735502667302897,-0.7593747264019202]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[-0.13046921092380348,-1.8651739387964592,0.71338606911949],"aabb_xy":[[-0.1944692111977817,-1.9152400389937472],[-0.06646921064982525,-1.8151078385991712]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[0.5580738901606859,0.8092564358849037,0.71338606911949],"aabb_xy":[[0.50307389053894,0.754272743097431],[0.6130738897824317,0.8642401286723764]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_29","position":[-0.0912309485952918,-0.9677138626516151,0.71338606911949],"aabb_xy":[[-0.1246711237913114,-1.001157488482545],[-0.057790773399272195,-0.9342702368206849]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_30","position":[0.33586455548835303,-1.047238919199533,0.71338606911949],"aabb_xy":[[0.3189538230520112,-1.0607111247921475],[0.35277528792469476,-1.0337667136069182]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.657694787003859,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9330.png","name":"9330"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9330.png","name":"9330"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7307.png","name":"7307"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3301.png","name":"3301"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2608.png","name":"2608"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9430.png","name":"9430"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":797.1580535034105,"rotation_z_degrees":340.29953599353144,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007084683241676205,0.003067167677044163,-0.0018433562671045234]},{"name":"camera_2","offset_m":[0.0058948771481573126,0.00020327378028155152,0.013666500116826363]},{"name":"camera_3","offset_m":[0.019769880749556778,-0.0088424250538101,0.018318427071278513]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00020358002240118776,0.0017128627130713822,0.0010015491938695242],"end_effector_yaw_offset_degrees":0.6890914088681566},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00020001817912400095,-0.0006912377992368964,-0.0017272037868077668],"end_effector_yaw_offset_degrees":0.9902812752602765},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002975781533252372,-3.391096949462375e-05,0.0011371884333267685],"end_effector_yaw_offset_degrees":-0.5392982763374827}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004644681506283042,-0.0007922119368986335],"position_m":[0.21265531849371694,-0.02109221193689863,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027854694969568963,-0.004260547857754154],"position_m":[0.2114145305030431,-0.38326054785775415,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002211313744502845,0.0016630435553353987],"position_m":[0.21241131374450284,0.2972630435553354,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001666541772900665,-0.00425662647862345],"position_m":[0.35013345822709935,0.12764337352137653,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a183abbc723bab5d935dd24261ca5fd13958285617cd01a579ca6123a22570d1","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9330/tex_ceiling_textures_9430/tex_floor_textures_2608/tex_table_textures_7307/tex_wall_textures_3301","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8600451908385265230,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8600451908385265230,"visual_seed":8600451908385265230,"scene_id":"lab_003","finished_at":"2026-09-04T10:26:22"}
+{"episode_id":"ep_000063","started_at":"2026-09-04T10:26:25","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.4042983564106719,-1.1842245236027336,0.71338606911949],"aabb_xy":[[0.3242983542479094,-1.2641797072288772],[0.4842983585734344,-1.10426933997659]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.5405108397103369,0.7901475102494304,0.71338606911949],"aabb_xy":[[0.534544300769601,0.7841863655900664],[0.5464773786510725,0.7961086549087945]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.6700002786702627,1.1925363710867933,0.71338606911949],"aabb_xy":[[-0.6794177532401254,1.1831201939490743],[-0.6605828041003999,1.2019525482245124]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.4035742282752331,-2.315961497676371,0.71338606911949],"aabb_xy":[[-0.4098863278115715,-2.321728436929589],[-0.39726212873889466,-2.310194558423152]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.5169233407224523,-1.6631408453750445,0.71338606911949],"aabb_xy":[[0.451923339616509,-1.688106218443173],[0.5819233418283956,-1.6381754723069164]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[0.237792800936531,-1.9514851337430281,0.71338606911949],"aabb_xy":[[0.22976653030590502,-1.9602366287203807],[0.24581907156715702,-1.9427336387656755]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.12721916463435523,-1.7343484821339583,0.71338606911949],"aabb_xy":[[0.07721916297286045,-1.7843469243896608],[0.17721916629584997,-1.6843500398782554]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[-0.4878618946579407,-0.17892593438833693,0.71338606911949],"aabb_xy":[[-0.5253618946017071,-0.1872190244231735],[-0.4503618947141743,-0.17063284435350035]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.04391482219082021,-1.6592124732423965,0.71338606911949],"aabb_xy":[[-0.061461517106939145,-1.6967124748066478],[-0.02636812727470128,-1.6217124716781453]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.5385715662914679,0.029854852771156626,0.71338606911949],"aabb_xy":[[-0.6025715669949373,-0.01616352970176439],[-0.4745715655879986,0.07587323524407763]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[-0.25588806031292843,-0.1435870169326492,0.71338606911949],"aabb_xy":[[-0.3036942279266971,-0.20858701963970813],[-0.20808189269915978,-0.07858701422559024]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[-0.25524253188175144,-0.9585335908989956,0.71338606911949],"aabb_xy":[[-0.285640642980895,-0.9889404929006651],[-0.22484442078260783,-0.9281266888973261]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[-0.1907402960929473,1.7520416709769377,0.71338606911949],"aabb_xy":[[-0.1941809723330045,1.7481802380025735],[-0.18729961985289012,1.7559031039513024]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.055676288943529384,-1.1990961073630293,0.71338606911949],"aabb_xy":[[-0.11065001097986227,-1.2540961069272625],[-0.0007025669071964932,-1.1440961077987961]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[-0.14346640617582074,-2.476343276232984,0.71338606911949],"aabb_xy":[[-0.1515800608491978,-2.4844490926870133],[-0.1353527515024436,-2.4682374597789547]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[-0.39257625010715724,-1.75331219375396,0.71338606911949],"aabb_xy":[[-0.4565762465027303,-1.8172754821726935],[-0.32857625371158417,-1.6893489053352264]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.5292833221190822,1.6888045705266008,0.71338606911949],"aabb_xy":[[0.46928332152306607,1.6339920979813771],[0.5892833227150984,1.743617043071824]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[-0.6314416551336528,0.941529414716392,0.71338606911949],"aabb_xy":[[-0.6864416543102422,0.8865397399414344],[-0.5764416559570632,0.9965190894913497]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[0.11520033409556729,-2.4300734384050986,0.71338606911949],"aabb_xy":[[0.0352003370813193,-2.4502079900785096],[0.19520033110981527,-2.4099388867316875]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[0.38869643444732627,-0.5591335740610051,0.71338606911949],"aabb_xy":[[0.34370384772887586,-0.6041335733354538],[0.4336890211657767,-0.5141335747865563]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.08832956267259418,1.1125142763361349,0.71338606911949],"aabb_xy":[[0.05082956148780137,1.108096053640074],[0.12582956385738694,1.116932499032195]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.2464088541482864,1.7420815058553214,0.71338606911949],"aabb_xy":[[0.16640885387467938,1.669131958029605],[0.3264088544218933,1.8150310536810383]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[-0.48596435145770167,-1.3493551131154848,0.71338606911949],"aabb_xy":[[-0.5006077570117347,-1.3640138327722688],[-0.47132094590366863,-1.3346963934587004]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[-0.3362878326775073,-0.44733022080159346,0.71338606911949],"aabb_xy":[[-0.4002878299798537,-0.4916966477694502],[-0.2722878353751609,-0.4029637938337367]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[0.2832647749179108,0.9269677670803591,0.71338606911949],"aabb_xy":[[0.23328182473043144,0.8769677674377985],[0.3332477251053901,0.9769677667229193]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[0.07010826691721717,0.8898573716275542,0.71338606911949],"aabb_xy":[[0.03579198974259923,0.8398573716543765],[0.1044245440918351,0.9398573716007319]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[0.5390262059345003,0.625798372339692,0.71338606911949],"aabb_xy":[[0.5353229446053613,0.6220963540309741],[0.5427294672636391,0.6295003906484098]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_27","position":[0.38118040807104236,-1.568648801971777,0.71338606911949],"aabb_xy":[[0.37183340048874713,-1.5829524241894213],[0.3905274156533376,-1.5543451797541332]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[0.4316794460290698,-0.19958085926195146,0.71338606911949],"aabb_xy":[[0.37667944640732404,-0.2545645520494242],[0.4866794456508157,-0.14459716647447876]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_29","position":[-0.21348933553471894,1.6859254372394594,0.71338606911949],"aabb_xy":[[-0.3034893341291889,1.6696748509260386],[-0.12348933694024902,1.7021760235528807]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6562648206661639,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5956.png","name":"5956"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5956.png","name":"5956"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/586.png","name":"586"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5366.png","name":"5366"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6420.png","name":"6420"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9099.png","name":"9099"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":661.2922811613378,"rotation_z_degrees":107.02500458544904,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008752657844264258,0.008335802728808722,0.01567414845706656]},{"name":"camera_2","offset_m":[-0.005501023842443407,-0.016773400414717768,0.003031600571988452]},{"name":"camera_3","offset_m":[-0.002132327407933024,0.0004419499661411537,0.0026470523246476946]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005396821585703,-0.0016894561587946272,0.0001318588458711304],"end_effector_yaw_offset_degrees":-0.39061832611985414},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016080070383148251,-0.0014028286440094552,-0.0012339676832932023],"end_effector_yaw_offset_degrees":-0.6613150495063302},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001953740867137067,-0.00043719532606046447,0.001734269816912643],"end_effector_yaw_offset_degrees":-0.6869756468328039}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00436887547984256,0.004249448341426332],"position_m":[0.22166887547984254,-0.016050551658573668,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018457196192013347,-0.00047905392352592426],"position_m":[0.21235428038079868,-0.37947905392352593,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003988616763184682,0.004536759733602566],"position_m":[0.21418861676318468,0.30013675973360254,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028431539504312217,0.0035999360970174],"position_m":[0.3546431539504312,0.13549993609701738,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"451bda3a01c623aaaefda7fad125e26791eafb663b825338e30b83618d65824d","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5956/tex_ceiling_textures_9099/tex_floor_textures_6420/tex_table_textures_586/tex_wall_textures_5366","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5643094038708709519,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5643094038708709519,"visual_seed":5643094038708709519,"scene_id":"lab_003","finished_at":"2026-09-04T10:29:15"}
+{"episode_id":"ep_000064","started_at":"2026-09-04T10:29:18","dimensions":{"distractor":{"count":26,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[-0.2434346136484698,-0.8582206816670361,0.71338606911949],"aabb_xy":[[-0.328434612065893,-0.9430949771293211],[-0.15843461523104654,-0.7733463862047512]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.17439239331330958,1.3125958811110991,0.71338606911949],"aabb_xy":[[0.1656944310225943,1.3004709068036244],[0.18309035560402487,1.3247208554185739]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.4141707071508154,-1.4312605012883655,0.71338606911949],"aabb_xy":[[0.37970835975267353,-1.4657543836861877],[0.44863305454895713,-1.3967666188905423]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.06592642666299808,-2.4317533504477615,0.71338606911949],"aabb_xy":[[0.0009264240252045974,-2.4832329491472085],[0.13092642930079157,-2.3802737517483146]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[-0.37442794448901184,-1.5194289702331458,0.71338606911949],"aabb_xy":[[-0.3785061023960616,-1.5235099504814091],[-0.3703497865819621,-1.5153479899848825]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.2982479041727918,-1.7855026882468308,0.71338606911949],"aabb_xy":[[-0.30236385428486445,-1.789618243279676],[-0.2941319540607191,-1.7813871332139848]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.17754991161008815,0.9148531156283415,0.71338606911949],"aabb_xy":[[-0.20004991113379555,0.8923571681777207],[-0.15504991208638075,0.9373490630789623]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.4158942632857989,1.387740544741134,0.71338606911949],"aabb_xy":[[0.3854961521866553,1.3573336427394642],[0.44629237438494246,1.4181474467428032]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.4147510978626631,1.2878127738994123,0.71338606911949],"aabb_xy":[[-0.4298533993236811,1.2727112522683497],[-0.3996487964016449,1.3029142955304736]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.07347283451952358,-1.636742539403594,0.71338606911949],"aabb_xy":[[-0.07881041018552815,-1.6617425403327342],[-0.06813525885351901,-1.6117425384744546]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.415717432286433,-0.5877246897361337,0.71338606911949],"aabb_xy":[[0.39792392535151655,-0.6055244353319312],[0.4335109392213494,-0.5699249441403359]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.3670428183758405,-2.2927606839987353,0.71338606911949],"aabb_xy":[[0.35547383762890394,-2.317760684115667],[0.3786117991227771,-2.2677606838818036]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.5819495559362724,1.2101053456793611,0.71338606911949],"aabb_xy":[[-0.6459495532219212,1.1685986267265172],[-0.5179495586506239,1.251612064632205]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[0.49582462005366135,-0.8425828029131623,0.71338606911949],"aabb_xy":[[0.43819415116639043,-0.9025828018398727],[0.5534550889409322,-0.7825828039864515]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.5667505915920366,0.60259921850504,0.71338606911949],"aabb_xy":[[0.5476382842340577,0.583464439627798],[0.5858628989500154,0.6217339973822821]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[0.45471760205887723,0.4191590793681512,0.71338606911949],"aabb_xy":[[0.41786705412188957,0.38165907854511755],[0.4915681499958648,0.456659080191185]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[-0.4116355474880754,1.1099854683255197,0.71338606911949],"aabb_xy":[[-0.4267984204650126,1.0948200110304012],[-0.39647267451113843,1.1251509256206387]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[-0.2709915707687526,1.3999738697112467,0.71338606911949],"aabb_xy":[[-0.3261167763983433,1.3399738682699593],[-0.21586636513916177,1.4599738711525336]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[-0.04463472526765089,0.45845865653472995,0.71338606911949],"aabb_xy":[[-0.05167617621839849,0.45143190479693546],[-0.0375932743169033,0.46548540827252455]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.17799402930696906,0.13578923292256295,0.71338606911949],"aabb_xy":[[-0.22796709483948457,0.08578923311003007],[-0.12802096377445363,0.18578923273509587]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[-0.5601237734143022,0.33209467937553283,0.71338606911949],"aabb_xy":[[-0.6251237744148028,0.2813083142208579],[-0.4951237724138018,0.38288104453020777]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[-0.37133441909446324,-0.15660411422375642,0.71338606911949],"aabb_xy":[[-0.42081484030842203,-0.22060411213660824],[-0.32185399788050445,-0.0926041163109046]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.41444147505353723,0.9618415440655581,0.71338606911949],"aabb_xy":[[0.39194147504338894,0.9477453244259548],[0.4369414750636855,0.9759377637051614]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[-0.28117745777852104,0.27667341735557205,0.71338606911949],"aabb_xy":[[-0.3511774595872665,0.2553196485913847],[-0.2111774559697756,0.2980271861197594]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[-0.18288389119543824,-1.8173810577606044,0.71338606911949],"aabb_xy":[[-0.24688389146941647,-1.8674471579578926],[-0.11888389092146001,-1.7673149575633167]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.022838179117314228,-1.354331596569333,0.71338606911949],"aabb_xy":[[-0.09283818124874377,-1.3770935621950284],[0.04716182301411532,-1.3315696309436371]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6578113495307639,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6165.png","name":"6165"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6165.png","name":"6165"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/332.png","name":"332"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7353.png","name":"7353"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1351.png","name":"1351"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4998.png","name":"4998"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":711.1892286518963,"rotation_z_degrees":30.327122770510677,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011575804442934164,-0.017668652005526097,-0.012456937255822056]},{"name":"camera_2","offset_m":[-0.0032828558640312783,0.00024105294722520307,0.009793196688059745]},{"name":"camera_3","offset_m":[0.005406356531147686,-0.0024369348585580146,-0.012802990536774722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010684776461558783,-0.0018936575814078901,0.0019917870288138975],"end_effector_yaw_offset_degrees":0.10308156685298386},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001339237581359232,-0.0014472401399964422,-0.0003877837695878],"end_effector_yaw_offset_degrees":0.48246575526023716},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004105355435507752,0.00018107087168313342,0.0003937470669783372],"end_effector_yaw_offset_degrees":-0.21905176713948005}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016513124166970998,-0.003402151193528569],"position_m":[0.2189513124166971,-0.023702151193528566,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024706525804456202,-0.0040213634175088366],"position_m":[0.21172934741955438,-0.38302136341750886,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020230475162912264,-0.0031784724565966827],"position_m":[0.20817695248370877,0.2924215275434033,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011783685346294492,-0.003986359208229524],"position_m":[0.35062163146537056,0.12791364079177048,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a471150885f180f44f75dfdff1ff1d3158be2ab5fd2d1f12f570ebeaeb6193d5","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0064.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6165/tex_ceiling_textures_4998/tex_floor_textures_1351/tex_table_textures_332/tex_wall_textures_7353","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5746249481447181776,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5746249481447181776,"visual_seed":5746249481447181776,"scene_id":"lab_003","finished_at":"2026-09-04T10:32:12"}
+{"episode_id":"ep_000065","started_at":"2026-09-04T10:32:17","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_0","position":[0.0206719707287617,1.7219474753243857,0.71338606911949],"aabb_xy":[[0.0055696692677436,1.7068459536933236],[0.035774272189779785,1.7370489969554475]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[0.13171407243214184,0.9072863909179065,0.71338606911949],"aabb_xy":[[0.09421407176756312,0.8915993329176841],[0.1692140730967205,0.9229734489181285]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[-0.14511196249550018,1.774352776562122,0.71338606911949],"aabb_xy":[[-0.16761196250564844,1.7602565569225188],[-0.12261196248535186,1.7884489962017254]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[0.26015629762300063,-0.7001062780886971,0.71338606911949],"aabb_xy":[[0.19615629540259355,-0.7444793622139854],[0.3241562998434076,-0.6557331939634088]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.4959699820019252,1.601542923430714,0.71338606911949],"aabb_xy":[[0.4259699786103632,1.566227149727283],[0.5659699853934871,1.6368586971341448]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[0.6487471219302963,-1.5357820280202468,0.71338606911949],"aabb_xy":[[0.5887471214224433,-1.592628761706168],[0.7087471224381492,-1.4789352943343255]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[0.4886226261756552,-2.4015554306753955,0.71338606911949],"aabb_xy":[[0.40862262401289273,-2.4815106143015386],[0.5686226283384177,-2.3216002470492514]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.2461154424594562,-1.0032682828383237,0.71338606911949],"aabb_xy":[[-0.2621773699179738,-1.0882682846509153],[-0.23005351500093854,-0.9182682810257318]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.6454247991845826,1.0916724449160107,0.71338606911949],"aabb_xy":[[-0.6524651091181196,1.0116724455163395],[-0.6383844892510456,1.1716724443156823]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.2591501780437081,0.5396560838245055,0.71338606911949],"aabb_xy":[[-0.2651871910443728,0.5336293827555574],[-0.2531131650430434,0.5456827848934538]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.6911564457097228,-0.28020589094572745,0.71338606911949],"aabb_xy":[[0.6856985000727027,-0.36020589425338656],[0.6966143913467429,-0.20020588763806835]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.07847974663194301,0.1745068643454819,0.71338606911949],"aabb_xy":[[-0.11597974520756381,0.16177056868192397],[-0.0409797480563222,0.18724316000903984]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[-0.5184465957843715,-0.8045839162795494,0.71338606911949],"aabb_xy":[[-0.5552971437213591,-0.8420839171025831],[-0.48159604784738386,-0.7670839154565157]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.029066944718203924,1.2139619042836887,0.71338606911949],"aabb_xy":[[-0.07894964159590014,1.1639619050374141],[0.02081575215949228,1.2639619035299636]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[-0.0578307528095231,0.7310974604886988,0.71338606911949],"aabb_xy":[[-0.07772179268986336,0.7184416492040021],[-0.03793971292918286,0.7437532717733958]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[0.15003087444589291,-1.1477786752717332,0.71338606911949],"aabb_xy":[[0.07003087585857347,-1.2270942772098938],[0.23003087303321232,-1.068463073333572]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.4528868711268463,0.271601318633619,0.71338606911949],"aabb_xy":[[-0.5328868743908595,0.2580412863247057],[-0.3728868678628332,0.28516135094253237]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.5992275980896411,-2.1738305576287194,0.71338606911949],"aabb_xy":[[-0.6055396976259795,-2.179597496881938],[-0.5929154985533027,-2.1680636183755007]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.4934048357765071,1.7495183006646449,0.71338606911949],"aabb_xy":[[-0.5574048321720801,1.6855550122459113],[-0.429404839380934,1.8134815890833784]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.591143554425233,0.2191003154891802,0.71338606911949],"aabb_xy":[[0.5831495658475296,0.2111002353940898],[0.5991375430029364,0.2271003955842705]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[-0.22698422760466752,0.2345727038772436,0.71338606911949],"aabb_xy":[[-0.2594459284865949,0.20443987176234096],[-0.19452252672274004,0.2647055359921462]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[-0.03386261997751816,-1.1695047740928184,0.71338606911949],"aabb_xy":[[-0.04302249892139476,-1.1760359921363557],[-0.024702741033641562,-1.1629735560492815]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[0.6224910014855729,1.3125072905580377,0.71338606911949],"aabb_xy":[[0.6145677212468245,1.2900072903200346],[0.6304142817243211,1.3350072907960413]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[-0.5530064749420869,0.09555353216652573,0.71338606911949],"aabb_xy":[[-0.568890968207412,0.08120059186770168],[-0.5371219816767617,0.10990647246534979]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_24","position":[0.4283766178235231,-0.052068123620499396,0.71338606911949],"aabb_xy":[[0.40509477562539176,-0.13706812491772744],[0.45165846002165444,0.032931877676728664]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[0.5975687610664948,-2.0483968767667307,0.71338606911949],"aabb_xy":[[0.5820129916562296,-2.0639473100111383],[0.6131245304767601,-2.032846443522324]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[-0.4879800131867198,0.5518856774259131,0.71338606911949],"aabb_xy":[[-0.5456104820739905,0.4918856784992023],[-0.4303495442994488,0.6118856763526235]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_27","position":[-0.3492642272851931,-0.12151797861184033,0.71338606911949],"aabb_xy":[[-0.38041114612877625,-0.1915179772986475],[-0.31811730844161,-0.05151797992503317]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[0.07123950908947907,1.049476592406763,0.71338606911949],"aabb_xy":[[0.036239507737997355,1.0291168564499422],[0.10623951044096082,1.0698363283635839]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6590639775458751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7427.png","name":"7427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7427.png","name":"7427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2616.png","name":"2616"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3693.png","name":"3693"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5640.png","name":"5640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7419.png","name":"7419"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":696.5015642956606,"rotation_z_degrees":93.77893495122765,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0077140272369122225,0.005732778584583657,-0.002081587484153536]},{"name":"camera_2","offset_m":[-0.004822218250592911,0.010888291836265763,-0.0010520219217896587]},{"name":"camera_3","offset_m":[-0.0009228270765350988,0.001901418451647676,-0.010072973851874752]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010685938609617668,-0.0002715568253052166,-0.00047523517584083805],"end_effector_yaw_offset_degrees":-0.7273059140230191},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011177500566659144,-0.00091434902201265,0.0008585305239094628],"end_effector_yaw_offset_degrees":-0.8310871373584878},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001704388597879547,-0.0006496489682953817,0.0011147746521472848],"end_effector_yaw_offset_degrees":0.3888497737336627}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017682216750665326,-0.004534155259305067],"position_m":[0.21553177832493345,-0.024834155259305067,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004270992598103102,0.0033687909118417037],"position_m":[0.2184709925981031,-0.3756312090881583,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004538430450960869,-0.002510986358910271],"position_m":[0.20566156954903914,0.2930890136410897,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004539933188448438,-0.004379176023373744],"position_m":[0.3563399331884484,0.12752082397662626,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cec74b085d2f88d9f3fed49afb19b40219e4223a15d8d08860021e23b752ff1a","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7427/tex_ceiling_textures_7419/tex_floor_textures_5640/tex_table_textures_2616/tex_wall_textures_3693","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":1716496518913053311,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":1716496518913053311,"visual_seed":1716496518913053311,"scene_id":"lab_003","finished_at":"2026-09-04T10:35:25"}
+{"episode_id":"ep_000066","started_at":"2026-09-04T10:35:30","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[-0.25882775942102004,1.4778875881505917,0.71338606911949],"aabb_xy":[[-0.3188277600170362,1.423075115605368],[-0.19882775882500386,1.532700060695815]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[-0.11446428406382969,-0.7856382315104211,0.71338606911949],"aabb_xy":[[-0.16445929502328172,-0.8356382305460129],[-0.06446927310437765,-0.7356382324748294]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[-0.03931032000597545,-1.8316589194958535,0.71338606911949],"aabb_xy":[[-0.04802428905590993,-1.8541589201550417],[-0.030596350956040953,-1.8091589188366652]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[-0.20509194754162863,-2.2617655038033657,0.71338606911949],"aabb_xy":[[-0.2750919509331906,-2.2970812775067966],[-0.13509194415006665,-2.226449730099935]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[0.5505570613199413,1.695905166503405,0.71338606911949],"aabb_xy":[[0.5130570628965408,1.6827409525355743],[0.5880570597433415,1.7090693804712358]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.06728220642597282,1.1965335415916831,0.71338606911949],"aabb_xy":[[-0.15728221010289095,1.1351011350145785],[0.02271779725094537,1.2579659481687873]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.28938959160470445,-2.440823518411737,0.71338606911949],"aabb_xy":[[0.2793078845261309,-2.5208235163038513],[0.2994712986832779,-2.360823520519622]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[0.633650806621086,-1.8156574914029768,0.71338606911949],"aabb_xy":[[0.6166407093310352,-1.831791979901251],[0.6506609039111365,-1.7995230029047031]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.4796103843506183,1.355018002867241,0.71338606911949],"aabb_xy":[[0.4246366623142854,1.3000180033030078],[0.5345841063869512,1.4100180024314741]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[0.12512407597174346,-1.9135507379958434,0.71338606911949],"aabb_xy":[[0.11720079573299513,-1.9360507382338468],[0.1330473562104918,-1.89105073775784]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.2651419014724394,1.702824200396965,0.71338606911949],"aabb_xy":[[-0.31511519547569977,1.6528241998424171],[-0.21516860746917887,1.7528242009515118]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.3982861189870041,0.29172616558155307,0.71338606911949],"aabb_xy":[[-0.42279974308400997,0.26746157227951656],[-0.37377249488999825,0.31599075888358946]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[0.4985334582077816,-0.7670833103486261,0.71338606911949],"aabb_xy":[[0.40884638189966616,-0.8570833106030765],[0.5882205345158971,-0.6770833100941754]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.09109114757821257,-1.5020310569146103,0.71338606911949],"aabb_xy":[[0.05609114760171674,-1.5114956729622269],[0.1260911475547084,-1.4925664408669936]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.6752608976534922,-1.6401145664775063,0.71338606911949],"aabb_xy":[[0.6527608978395898,-1.6445891828479868],[0.6977608974673946,-1.6356399501070253]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[0.4870351662695971,-0.05627613517693941,0.71338606911949],"aabb_xy":[[0.40703516579938126,-0.06458684279128779],[0.5670351667398131,-0.04796542756259104]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.40415657442111247,0.9634918723808084,0.71338606911949],"aabb_xy":[[-0.4591520522417718,0.9084918709469013],[-0.349161096600453,1.0184918738147153]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[0.03158774245638862,-0.7039301565443383,0.71338606911949],"aabb_xy":[[-0.023412255745356204,-0.7444521231707758],[0.08658774065813346,-0.6634081899179006]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[0.2809632868955778,1.1439712720665565,0.71338606911949],"aabb_xy":[[0.23568467201442855,1.0799712727183728],[0.3262419017767271,1.2079712714147401]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.12305461071805723,-1.1362980583393436,0.71338606911949],"aabb_xy":[[0.09190769187447412,-1.2062980570261506],[0.15420152956164035,-1.0662980596525362]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.6539314181779312,-0.06275198487709499,0.71338606911949],"aabb_xy":[[0.6314349967440671,-0.08525198468384244],[0.6764278396117953,-0.040251985070347565]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.5458932944080257,1.5634803798344783,0.71338606911949],"aabb_xy":[[-0.6098932958160163,1.5116914283105534],[-0.481893293000035,1.6152693313584028]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[0.18913063054554735,-1.8401370120777012,0.71338606911949],"aabb_xy":[[0.18568995430549018,-1.8439984450520657],[0.19257130678560455,-1.8362755791033367]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.2579408177622957,-1.2129457389413072,0.71338606911949],"aabb_xy":[[0.20794154259385955,-1.2629457402172544],[0.3079400929307319,-1.16294573766536]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[-0.5465788330623986,0.556117038385008,0.71338606911949],"aabb_xy":[[-0.591571419780849,0.5111170391105593],[-0.5015862463439482,0.6011170376594568]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[-0.20429442604225434,-2.4516497135101,0.71338606911949],"aabb_xy":[[-0.25429442699278704,-2.4831988605136215],[-0.15429442509172145,-2.4201005665065787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6572096688619181,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3276.png","name":"3276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3276.png","name":"3276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8203.png","name":"8203"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8593.png","name":"8593"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/597.png","name":"597"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2014.png","name":"2014"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":713.1515036424023,"rotation_z_degrees":137.48593197397452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007359410263755865,-9.876419867890437e-05,-0.0006127176218925674]},{"name":"camera_2","offset_m":[0.013667024331823794,-0.010090209282855348,-0.01851124438595719]},{"name":"camera_3","offset_m":[0.006669672680067466,0.006667642109885824,-0.006586755940976904]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012765399102465933,-0.001606886364906012,0.0006675032916478789],"end_effector_yaw_offset_degrees":-0.4772769094272249},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005369391960059703,-0.00013676492150737208,0.0012865493794980516],"end_effector_yaw_offset_degrees":0.15340215541084556},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016555460050000246,0.00040815012305473776,-0.0018456033443664316],"end_effector_yaw_offset_degrees":0.81182357310539}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004660229992673127,0.003840661718359108],"position_m":[0.21263977000732687,-0.01645933828164089,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001094885141640906,0.002054554355556423],"position_m":[0.2152948851416409,-0.3769454456444436,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003603340994874009,-0.0021964557695116926],"position_m":[0.206596659005126,0.29340354423048826,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030223718468162667,0.002951278681313723],"position_m":[0.35482237184681625,0.13485127868131372,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"11fb252229c90cfcb6c93211c59086080ac6609e75d8439712bbae35a4e57ed9","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3276/tex_ceiling_textures_2014/tex_floor_textures_597/tex_table_textures_8203/tex_wall_textures_8593","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":1064727893076148747,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":1064727893076148747,"visual_seed":1064727893076148747,"scene_id":"lab_003","finished_at":"2026-09-04T10:38:17"}
+{"episode_id":"ep_000067","started_at":"2026-09-04T10:38:20","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.5714148339094274,1.2037128015624203,0.71338606911949],"aabb_xy":[[0.5679741576693703,1.1998513685880559],[0.5748555101494847,1.2075742345367848]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.021485733743945357,1.2233470852723483,0.71338606911949],"aabb_xy":[[-0.0160142666042824,1.2115556896912645],[0.058985734092173114,1.2351384808534316]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[0.6436143857950618,-0.42603849107169456,0.71338606911949],"aabb_xy":[[0.5886406637587289,-0.48103849063592774],[0.6985881078313947,-0.3710384915074614]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.024416818079167846,-0.9397867143769749,0.71338606911949],"aabb_xy":[[0.018835146445039086,-0.9522867141947503],[0.029998489713296606,-0.9272867145591993]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.08027252394456952,1.6234745251702098,0.71338606911949],"aabb_xy":[[-0.14427252535256016,1.571685573646285],[-0.016272522536578845,1.6752634766941343]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.16208999669955426,-1.4344978758220854,0.71338606911949],"aabb_xy":[[-0.1842625236762051,-1.4566735429782083],[-0.13991746972290342,-1.4123222086659621]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.2120835983186823,-0.6958593355835803,0.71338606911949],"aabb_xy":[[-0.27608360160839035,-0.7391942545874979],[-0.14808359502897414,-0.6525244165796626]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.5504405398093364,0.985811848188924,0.71338606911949],"aabb_xy":[[0.5154405398328405,0.9763472321413074],[0.5854405397858322,0.9952764642365406]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.6541718261288987,0.2938183695431307,0.71338606911949],"aabb_xy":[[-0.6916718269208941,0.2874505285849405],[-0.6166718253369032,0.3001862105013207]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.15550571334524277,-1.0371692374250887,0.71338606911949],"aabb_xy":[[0.14414397869195658,-1.0485377038313768],[0.1668674479985289,-1.0258007710188006]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.5158196112902134,1.307175927135718,0.71338606911949],"aabb_xy":[[-0.5333196105683002,1.2898378270693718],[-0.4983196120121265,1.3245140272020637]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.18299926000627875,-2.116890401806792,0.71338606911949],"aabb_xy":[[-0.20086836776073425,-2.1307233097840026],[-0.16513015225182326,-2.1030574938295805]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[0.05063396453490754,1.7935101304924088,0.71338606911949],"aabb_xy":[[0.03372323209856575,1.7800379248997942],[0.0675446969712493,1.8069823360850235]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[0.6024281847607373,-2.3764637619354096,0.71338606911949],"aabb_xy":[[0.567428185567919,-2.3874308079330713],[0.6374281839535555,-2.3654967159377462]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.4141708714469867,-0.3894556319060434,0.71338606911949],"aabb_xy":[[-0.43667087195902726,-0.4119474902714417],[-0.39167087093494607,-0.36696377354064497]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.07846071670506682,-0.6065216668775184,0.71338606911949],"aabb_xy":[[0.0506156799244597,-0.6373061656158302],[0.10630575348567395,-0.5757371681392068]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[-0.23660924398275884,-2.497869979721371,0.71338606911949],"aabb_xy":[[-0.32660924340112973,-2.53124547656556],[-0.14660924456438798,-2.4644944828771806]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[0.4163024507827331,-1.9775085253762876,0.71338606911949],"aabb_xy":[[0.4076044884920178,-1.9896334996837624],[0.4250004130734484,-1.965383551068813]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.5315498822814593,0.05210749672982917,0.71338606911949],"aabb_xy":[[0.4844205032796235,-0.01189250431457279],[0.5786792612832948,0.11610749777423113]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.24761074795575488,-1.171276669451617,0.71338606911949],"aabb_xy":[[0.1776107453191685,-1.1913815344474823],[0.31761075059234123,-1.1511718044557513]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[0.32360820891228825,-0.8397314570006449,0.71338606911949],"aabb_xy":[[0.3196943357168657,-0.8484804724072016],[0.3275220821077107,-0.830982441594088]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.14556022131774793,0.7691013092257344,0.71338606911949],"aabb_xy":[[0.11559266440792224,0.7391013089278486],[0.17552777822757357,0.7991013095236201]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[-0.15357448388163164,-1.1690680430096145,0.71338606911949],"aabb_xy":[[-0.16168813855500871,-1.1771738594636436],[-0.1454608292082545,-1.1609622265555855]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.17202102093736782,1.464495360636088,0.71338606911949],"aabb_xy":[[-0.21056671376256886,1.4259495895798993],[-0.13347532811216678,1.5030411316922767]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[0.29526059706422425,-1.360387978827447,0.71338606911949],"aabb_xy":[[0.25776059864082385,-1.3735521927952774],[0.33276059548762454,-1.3472237648596164]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[0.6182474325261538,-2.4590237627660056,0.71338606911949],"aabb_xy":[[0.5532474314202105,-2.483989135834134],[0.6832474336320971,-2.4340583896978774]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.4648251850465482,0.6625503222638955,0.71338606911949],"aabb_xy":[[-0.5448251872093106,0.5825951386377519],[-0.3848251828837857,0.7425055058900392]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582718574481455,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2238.png","name":"2238"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2238.png","name":"2238"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6308.png","name":"6308"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9180.png","name":"9180"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5897.png","name":"5897"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6735.png","name":"6735"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":553.5270066667932,"rotation_z_degrees":352.54893773761137,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0033094545096289535,0.005859104384797337,0.013618534151688528]},{"name":"camera_2","offset_m":[-0.014282996025244347,-0.011192932298161212,0.017929917598353346]},{"name":"camera_3","offset_m":[-0.0029491369074122788,0.004282475434342854,0.0020162254813418344]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011431549144429354,-0.000502588337094381,-0.0002012535276637087],"end_effector_yaw_offset_degrees":0.2876995194195746},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001565325766121165,0.00033831112682215,0.0018246004863779258],"end_effector_yaw_offset_degrees":-0.29263450949949},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005832036153332418,-0.0018180213003526563,-0.0007568316589253233],"end_effector_yaw_offset_degrees":-0.7488221715923353}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00022879927871470845,-0.0001543956935312887],"position_m":[0.2175287992787147,-0.020454395693531288,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029574547755027254,0.002866727832860172],"position_m":[0.21715745477550272,-0.3761332721671398,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023188339549010395,-0.0014340514658527483],"position_m":[0.21251883395490104,0.29416594853414724,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003499593602447914,-0.0007841686541031736],"position_m":[0.3552995936024479,0.13111583134589683,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4fca4f6821662b928384a54999a000d931f1c637181309dc3dafe83e79be0059","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2238/tex_ceiling_textures_6735/tex_floor_textures_5897/tex_table_textures_6308/tex_wall_textures_9180","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":4864012960313495896,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":4864012960313495896,"visual_seed":4864012960313495896,"scene_id":"lab_003","finished_at":"2026-09-04T10:41:21"}
+{"episode_id":"ep_000068","started_at":"2026-09-04T10:41:24","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.18464824717514494,0.2926859723436519,0.71338606911949],"aabb_xy":[[-0.18860873094487934,0.2850181077581313],[-0.1806877634054106,0.3003538369291725]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[0.5968856201090462,-2.2142470277916892,0.71338606911949],"aabb_xy":[[0.5593856201652798,-2.222540117826526],[0.6343856200528126,-2.2059539377568527]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.5364215400831863,0.40985569797404064,0.71338606911949],"aabb_xy":[[-0.5914215392597757,0.354866023199083],[-0.4814215409065967,0.4648453727489983]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.4971068417398238,0.8528768640078552,0.71338606911949],"aabb_xy":[[-0.5771068420134307,0.7799273161821384],[-0.41710684146621674,0.9258264118335718]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.09147788848105132,-1.6838594510983422,0.71338606911949],"aabb_xy":[[-0.13675650336220058,-1.7478594504465257],[-0.046199273599902044,-1.6198594517501583]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.3224989336478122,-1.621949914090449,0.71338606911949],"aabb_xy":[[-0.3562744928385051,-1.6359884093036139],[-0.28872337445711915,-1.607911418877284]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.38128269266253123,-1.2769029770469902,0.71338606911949],"aabb_xy":[[0.3704422144360163,-1.2940892583376389],[0.39212317088904614,-1.2597166957563415]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[0.22209025231810964,-0.5452595255828361,0.71338606911949],"aabb_xy":[[0.18459025182075137,-0.5492282091309545],[0.2595902528154679,-0.5412908420347177]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[0.3384609017078777,0.607484013080704,0.71338606911949],"aabb_xy":[[0.3009609015360057,0.5747832776977967],[0.37596090187974956,0.6401847484636111]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[0.34513686827077583,0.46428657418258146,0.71338606911949],"aabb_xy":[[0.2551368715351656,0.411103110865287],[0.43513686500638604,0.517470037499876]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.29306731560190746,-0.8266135589092538,0.71338606911949],"aabb_xy":[[0.28149833485497094,-0.8516135590261855],[0.3046362963488441,-0.8016135587923221]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[0.45203151622405935,-2.134095032946613,0.71338606911949],"aabb_xy":[[0.4476008868692192,-2.1395434046812953],[0.4564621455788996,-2.1286466612119304]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.16267969793896198,1.7097974542547916,0.71338606911949],"aabb_xy":[[-0.20785101578713097,1.6457974571102536],[-0.11750838009079301,1.7737974513993304]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[0.4713289400676406,-1.561815777388704,0.71338606911949],"aabb_xy":[[0.4370320290498999,-1.5961126635986451],[0.505625851085381,-1.5275188911787625]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.5347831028049119,1.418055360853534,0.71338606911949],"aabb_xy":[[-0.5697831011156073,1.4103403459299884],[-0.49978310449421637,1.4257703757770797]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.23702950722246569,0.17328196129648576,0.71338606911949],"aabb_xy":[[-0.2870295085833529,0.12330405672107016],[-0.1870295058615785,0.2232598658719014]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.2946551589589736,-0.7365574083696009,0.71338606911949],"aabb_xy":[[-0.35865516117938057,-0.7809304924948892],[-0.2306551567385665,-0.6921843242443126]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[0.1886025393843781,-2.2786466989811043,0.71338606911949],"aabb_xy":[[0.1711718243053716,-2.295918813644955],[0.2060332544633846,-2.261374584317253]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.3448103610987968,-0.5980239461912755,0.71338606911949],"aabb_xy":[[-0.3503920327329256,-0.610523946009051],[-0.33922868946466805,-0.5855239463735]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[0.6542284638060198,-0.7121126287455037,0.71338606911949],"aabb_xy":[[0.5842284673960578,-0.7325505643971854],[0.7242284602159814,-0.6916746930938219]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[0.5632729331097774,0.7350818487639725,0.71338606911949],"aabb_xy":[[0.5583169129248963,0.712581848561851],[0.5682289532946586,0.7575818489660944]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[0.23410603191757373,1.178609014112296,0.71338606911949],"aabb_xy":[[0.1541060286535606,1.1650489818033827],[0.31410603518158686,1.1921690464212094]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.06449475307212671,-1.7328997854977726,0.71338606911949],"aabb_xy":[[0.034527196162301044,-1.7628997857956583],[0.09446230998195237,-1.7028997851998868]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[-0.3320478889863016,1.3848645573534961,0.71338606911949],"aabb_xy":[[-0.42204788870947574,1.361791204818316],[-0.2420478892631274,1.4079379098886757]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[0.6157838366900894,1.6125667697632795,0.71338606911949],"aabb_xy":[[0.565810542686829,1.5625667692087324],[0.6657571306933499,1.662566770317827]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6601299986236122,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3857.png","name":"3857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3857.png","name":"3857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8906.png","name":"8906"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4500.png","name":"4500"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8849.png","name":"8849"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8862.png","name":"8862"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":849.6343880955369,"rotation_z_degrees":128.11543480165003,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01423211957721951,0.004974822740841666,-0.0013901972762597643]},{"name":"camera_2","offset_m":[0.005284172217957055,-0.015310375658204945,0.007048250093324621]},{"name":"camera_3","offset_m":[-0.0037228704521242058,0.010165096284504724,-0.008157208471430963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008548636685560065,-0.0014839747287916892,-0.0011108162012123772],"end_effector_yaw_offset_degrees":0.5010143410085746},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012028594062335203,-0.0005386984897254785,0.0013959163753452086],"end_effector_yaw_offset_degrees":-0.2070796187452757},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005701829191010947,0.001129088225020002,0.001415553964028161],"end_effector_yaw_offset_degrees":-0.5645584534132526}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021454875229500736,-0.003138763238688651],"position_m":[0.21515451247704992,-0.02343876323868865,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002204837582208725,-0.0014451892086956033],"position_m":[0.21640483758220871,-0.38044518920869563,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0044599619114841825,0.002602362253175731],"position_m":[0.20574003808851582,0.2982023622531757,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001236891629324258,0.0027108840604452003],"position_m":[0.3530368916293243,0.1346108840604452,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b3be8abc4730369676d4154ecaf3bc73543b1e58c8e129c4f577f7b69f42305b","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0068.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3857/tex_ceiling_textures_8862/tex_floor_textures_8849/tex_table_textures_8906/tex_wall_textures_4500","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5003598279372278844,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5003598279372278844,"visual_seed":5003598279372278844,"scene_id":"lab_003","finished_at":"2026-09-04T10:44:28"}
+{"episode_id":"ep_000069","started_at":"2026-09-04T10:44:32","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[0.13556405469704935,-0.7403043040412929,0.71338606911949],"aabb_xy":[[0.1268660924063341,-0.7524292783487676],[0.14426201698776467,-0.728179329733818]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.2703528766674535,1.2448101416146105,0.71338606911949],"aabb_xy":[[-0.32035215183588966,1.1948101403386633],[-0.22035360149901734,1.2948101428905576]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.04088678316353367,-0.8956146511999936,0.71338606911949],"aabb_xy":[[-0.04411321525388956,-0.9804889466622786],[0.1258867815809569,-0.8107403557377086]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[0.35392485979355026,-1.785838385499317,0.71338606911949],"aabb_xy":[[0.31892485844206847,-1.8061981214561378],[0.38892486114503194,-1.7654786495424961]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.11894709667409853,-2.525664191844029,0.71338606911949],"aabb_xy":[[-0.13154979581117499,-2.538259588068895],[-0.10634439753702209,-2.513068795619164]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.6155437821251712,-1.614965426054507,0.71338606911949],"aabb_xy":[[0.5702651672440219,-1.678965425402691],[0.6608223970063204,-1.5509654267063235]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.30921556236240844,1.755214055066912,0.71338606911949],"aabb_xy":[[0.2542155641606635,1.7146920884404742],[0.36421556056415316,1.7957360216933493]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.4266830826099841,-0.4744036595170762,0.71338606911949],"aabb_xy":[[0.3716876047893246,-0.5294036609509831],[0.4816785604306434,-0.41940365808316926]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.18903664658772446,-1.815236168500073,0.71338606911949],"aabb_xy":[[0.13403664741113494,-1.8702258432750307],[0.24403664576431391,-1.7602464937251154]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.48459960344943065,-1.5675349816218507,0.71338606911949],"aabb_xy":[[0.46904383403916544,-1.583085414866258],[0.5001553728596959,-1.5519845483774437]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.5096649001880551,-0.48089166391024696,0.71338606911949],"aabb_xy":[[-0.5796649017903346,-0.49432445711190465],[-0.4396648985857756,-0.4674588707085895]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.5581768998838381,-1.8217875470993503,0.71338606911949],"aabb_xy":[[0.5407461848048314,-1.8390596617632011],[0.5756076149628444,-1.8045154324354995]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[0.540052713298504,-0.9016106809002005,0.71338606911949],"aabb_xy":[[0.506277154107811,-0.9156491761133655],[0.573828272489197,-0.8875721856870354]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[0.31438207226749904,1.319096980415949,0.71338606911949],"aabb_xy":[[0.24938207116155575,1.2941316073478208],[0.3793820733734423,1.3440623534840774]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[0.6128188808294548,1.665527375174301,0.71338606911949],"aabb_xy":[[0.5228188822349848,1.6492767888608801],[0.7028188794239247,1.6817779614877222]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.27648334639134886,-2.08267340589976,0.71338606911949],"aabb_xy":[[0.18648334666817465,-2.1057467584349396],[0.366483346114523,-2.05960005336458]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.48037049148012956,-0.004822071024237928,0.71338606911949],"aabb_xy":[[-0.49787049173946624,-0.018913613213010553],[-0.462870491220793,0.009269471164534696]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[0.16584344250338323,1.5751421032756432,0.71338606911949],"aabb_xy":[[0.16170758617068304,1.5376421038312864],[0.16997929883608343,1.6126421027200004]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.666520962678699,1.4482414013154705,0.71338606911949],"aabb_xy":[[0.6557479887573311,1.4132414030964315],[0.6772939366000666,1.4832413995345095]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[0.4961493497078271,-0.3192976796424398,0.71338606911949],"aabb_xy":[[0.4920333995957543,-0.32341323467528527],[0.5002652998198996,-0.31518212460959427]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[0.5485207419271265,1.0394958678504995,0.71338606911949],"aabb_xy":[[0.5072161988633905,0.9754958682823822],[0.5898252849908625,1.1034958674186164]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[-0.25807020133574865,1.5765623701836229,0.71338606911949],"aabb_xy":[[-0.27718250869372757,1.5574275913063809],[-0.23895789397776984,1.595697149060865]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[-0.5077603304439202,-1.853960327414442,0.71338606911949],"aabb_xy":[[-0.5452603288673206,-1.8671245413822726],[-0.47026033202051987,-1.840796113446611]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[-0.20288226480554244,-0.33198915638116233,0.71338606911949],"aabb_xy":[[-0.2077815571121059,-0.3596660756837311],[-0.19798297249897892,-0.30431223707859356]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_24","position":[0.29725344677066246,-2.453395682011045,0.71338606911949],"aabb_xy":[[0.26479174588873494,-2.483528514125947],[0.32971514765258986,-2.4232628498961413]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[-0.4106779691554039,1.4358240911558489,0.71338606911949],"aabb_xy":[[-0.45567055587385424,1.3908240918814],[-0.3656853824369534,1.4808240904302976]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[0.053209497331686006,0.9739062496099429,0.71338606911949],"aabb_xy":[[-0.026790499631353173,0.8968306079661693],[0.13320949429472517,1.0509818912537163]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[-0.03793281797328518,0.21593442652252737,0.71338606911949],"aabb_xy":[[-0.04592630776856721,0.2079362945820517],[-0.029939328178003155,0.22393255846300303]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.656645492947533,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9232.png","name":"9232"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9232.png","name":"9232"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2276.png","name":"2276"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6868.png","name":"6868"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4844.png","name":"4844"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5658.png","name":"5658"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":654.8906774352295,"rotation_z_degrees":101.83140413717658,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00394492358171776,0.005642418566695607,4.898497579877009e-05]},{"name":"camera_2","offset_m":[0.011608185532228508,0.01813366840555569,0.01870171784256065]},{"name":"camera_3","offset_m":[0.015744961257917075,-0.009453160350454955,0.006856497427230702]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004218868219127555,0.00013968726198192085,0.0013730379165238218],"end_effector_yaw_offset_degrees":-0.5956175229546861},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00015625470939260996,7.833708767467735e-05,0.0013058353803179464],"end_effector_yaw_offset_degrees":-0.30880274518689754},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016205912677326785,0.0013218212340754725,0.0015298329951459072],"end_effector_yaw_offset_degrees":0.756751312219311}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038434775531127367,-0.0004305772985641054],"position_m":[0.21345652244688726,-0.020730577298564104,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005508377562272017,0.000693412039916257],"position_m":[0.2136491622437728,-0.37830658796008376,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000816831143950281,-0.0030592938960017748],"position_m":[0.2093831688560497,0.2925407061039982,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00046086446667962903,0.0007900010212128538],"position_m":[0.35226086446667965,0.13269000102121284,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1685372b1d28e92a7e84f3c482f6266ae4a26303e33e2d02b7384fd25ffb1585","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9232/tex_ceiling_textures_5658/tex_floor_textures_4844/tex_table_textures_2276/tex_wall_textures_6868","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":258358251306186125,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":258358251306186125,"visual_seed":258358251306186125,"scene_id":"lab_003","finished_at":"2026-09-04T10:47:28"}
+{"episode_id":"ep_000070","started_at":"2026-09-04T10:47:31","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.03487671891597777,-0.8839239403745236,0.71338606911949],"aabb_xy":[[0.013598710772505511,-0.9489239427005967],[0.05615472705945001,-0.8189239380484505]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[0.41743056315539806,1.6905112234113644,0.71338606911949],"aabb_xy":[[0.3624373518182613,1.635511223072571],[0.47242377449253486,1.7455112237501582]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.3719750005457285,-2.2530048776059557,0.71338606911949],"aabb_xy":[[0.3433256681853122,-2.2816504368830315],[0.40062433290614463,-2.22435931832888]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.4279495233045456,-1.9759754964293037,0.71338606911949],"aabb_xy":[[0.4235188939497055,-1.9814238681639866],[0.43238015265938584,-1.9705271246946212]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.3360574010146995,1.1743167937360552,0.71338606911949],"aabb_xy":[[-0.3735573994380998,1.1611525797682243],[-0.2985574025912991,1.1874810077038858]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[0.318600209549577,-1.3806791859871632,0.71338606911949],"aabb_xy":[[0.2609697406623061,-1.4406791849138734],[0.37623067843684777,-1.3206791870604522]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[0.2490383470724531,1.8038267574836948,0.71338606911949],"aabb_xy":[[0.2265383465604125,1.7813348991182962],[0.2715383475844937,1.826318615849093]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[0.2605775704924085,-0.7140844829825994,0.71338606911949],"aabb_xy":[[0.2005775696315956,-0.7655109129890856],[0.3205775713532212,-0.6626580529761128]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[-0.4238371333494924,0.750208075578398,0.71338606911949],"aabb_xy":[[-0.4888371344554357,0.7252427025102697],[-0.35883713224354913,0.7751734486465263]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.2013478949460531,1.6317421718599214,0.71338606911949],"aabb_xy":[[0.189415160584225,1.619360019052062],[0.21328062930788114,1.6441243246677808]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[0.5701001299194324,-1.2555682735346743,0.71338606911949],"aabb_xy":[[0.556948883948143,-1.2805682732913608],[0.5832513758907217,-1.2305682737779877]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.4090484579907649,-2.0701955531251977,0.71338606911949],"aabb_xy":[[-0.4291068696040052,-2.090260640034355],[-0.3889900463775246,-2.0501304662160402]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[0.4535918338341023,0.3217266267114316,0.71338606911949],"aabb_xy":[[0.43000671037020743,0.2567266244659998],[0.47717695729799714,0.3867266289568634]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[-0.6444574690657827,-1.8358347464016969,0.71338606911949],"aabb_xy":[[-0.6587918941919461,-1.8478949619562357],[-0.6301230439396192,-1.823774530847158]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.14990303286692264,0.19532246047535828,0.71338606911949],"aabb_xy":[[-0.1540189829789953,0.19120690544251273],[-0.14578708275484997,0.19943801550820373]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.3235071845645014,-2.3399702933697095,0.71338606911949],"aabb_xy":[[-0.3685071860307303,-2.38497015023119],[-0.2785071830982726,-2.294970436508229]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.0449986991804201,1.450745667070953,0.71338606911949],"aabb_xy":[[-0.09499869954098615,1.40076567986135],[0.005001301180145966,1.5007256542805558]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.1079659070407406,-1.334149577449641,0.71338606911949],"aabb_xy":[[0.057971074112799004,-1.3841495763448848],[0.1579607399686822,-1.2841495785543977]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[-0.41489258692148817,-0.2751563675928246,0.71338606911949],"aabb_xy":[[-0.4253041456019719,-0.280502100928723],[-0.40448102824100446,-0.26981063425692603]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.32572084995951767,0.5528737401686015,0.71338606911949],"aabb_xy":[[0.2805495321113487,0.48887374302406306],[0.37089216780768663,0.6168737373131399]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[-0.23473380714110764,-0.15769158230416513,0.71338606911949],"aabb_xy":[[-0.2690500843157255,-0.20769158227734286],[-0.20041752996648968,-0.10769158233098741]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.5109705585321425,-2.246186146600464,0.71338606911949],"aabb_xy":[[-0.5158141532933724,-2.251037799079448],[-0.5061269637709125,-2.24133449412148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.658103735356578,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4259.png","name":"4259"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4259.png","name":"4259"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1995.png","name":"1995"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1158.png","name":"1158"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5675.png","name":"5675"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1791.png","name":"1791"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":525.9127089649367,"rotation_z_degrees":84.15445173271563,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01761848017671083,0.018920533318839323,0.00638919909695744]},{"name":"camera_2","offset_m":[-0.001015768775898776,0.0072909478546416655,0.008925105961219457]},{"name":"camera_3","offset_m":[-0.018982338742350863,0.0068182067236108035,0.017539611240379314]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00014410878762945297,-0.001554125419720331,0.001718539491081078],"end_effector_yaw_offset_degrees":-0.4339460672055957},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005810781224574613,0.0001744200298292994,-0.0010836636244724693],"end_effector_yaw_offset_degrees":-0.9311427173993034},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019993305445361632,0.00014606194421300754,0.0013959526568984105],"end_effector_yaw_offset_degrees":0.9574474149248315}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017561614612176778,0.0025196601993677844],"position_m":[0.21905616146121767,-0.017780339800632212,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038013379347028127,0.004376896444480934],"position_m":[0.2180013379347028,-0.3746231035555191,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004090547943845952,-0.0029441103194710406],"position_m":[0.21429054794384594,0.2926558896805289,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030475458022850756,0.0037589510555943338],"position_m":[0.34875245419771495,0.13565895105559433,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dc160ccaf94a3a82522772cdf17730dab5cb0ed8da74e82fffb3735e0431abb8","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4259/tex_ceiling_textures_1791/tex_floor_textures_5675/tex_table_textures_1995/tex_wall_textures_1158","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3585443051588857754,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3585443051588857754,"visual_seed":3585443051588857754,"scene_id":"lab_003","finished_at":"2026-09-04T10:50:17"}
+{"episode_id":"ep_000071","started_at":"2026-09-04T10:50:20","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[-0.032057706376050654,1.2003004119383696,0.71338606911949],"aabb_xy":[[-0.08205081848524255,1.1503004112641741],[0.017935405733141233,1.2503004126125654]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.1362536720094646,-1.954668331473411,0.71338606911949],"aabb_xy":[[0.09406925784863387,-2.018668331750623],[0.17843808617029536,-1.8906683311962003]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.44912801643509837,-0.7074932075659335,0.71338606911949],"aabb_xy":[[0.43597677046380906,-0.7324932073226201],[0.4622792624063878,-0.682493207809247]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.446019283218718,-1.2011509378402079,0.71338606911949],"aabb_xy":[[0.43730531416878343,-1.2236509384993957],[0.4547332522686524,-1.1786509371810192]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.40848747688930404,-1.6597824380906387,0.71338606911949],"aabb_xy":[[-0.41394542252632405,-1.739782441398298],[-0.4030295312522839,-1.5797824347829799]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.06091064202918295,-1.333364312871772,0.71338606911949],"aabb_xy":[[0.0376287998310516,-1.4183643141689999],[0.08419248422731428,-1.2483643115745438]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[0.6489493808212328,-2.294903239521295,0.71338606911949],"aabb_xy":[[0.6452461194920938,-2.2986052578300122],[0.6526526421503716,-2.2912012212125767]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.21744111122319754,-0.943233217605356,0.71338606911949],"aabb_xy":[[-0.22547744592448235,-0.9512713369097726],[-0.20940477652191267,-0.935195098300939]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[-0.3420948572263959,0.8503278017432692,0.71338606911949],"aabb_xy":[[-0.4220886808049541,0.7703277991504276],[-0.26210103364783766,0.9303278043361107]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.2767327391754149,1.1520873973163064,0.71338606911949],"aabb_xy":[[-0.3417327418132084,1.1006077986168592],[-0.21173273653762142,1.2035669960157531]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.28537307551291813,0.15811051070495985,0.71338606911949],"aabb_xy":[[-0.2979757746499946,0.14551511448009435],[-0.27277037637584167,0.17070590692982535]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[-0.6053529527798395,-1.535442170782678,0.71338606911949],"aabb_xy":[[-0.6428529535718348,-1.5418100117408684],[-0.5678529519878439,-1.529074329824488]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[0.423192060931437,1.0020589275542142,0.71338606911949],"aabb_xy":[[0.4130390453772876,0.9659893859814737],[0.43334507648558634,1.0381284691269543]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[0.635259320526047,-2.120729684602616,0.71338606911949],"aabb_xy":[[0.5552593190959197,-2.200246839615225],[0.7152593219561741,-2.041212529590006]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.58226739014689,-1.75082726907083,0.71338606911949],"aabb_xy":[[0.5222673885039681,-1.8028274183627742],[0.6422673917898118,-1.6988271197788858]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[0.3801139666471245,-1.501845315117589,0.71338606911949],"aabb_xy":[[0.31011396483837905,-1.5231990838817762],[0.45011396845586993,-1.4804915463534014]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[-0.6722859857298851,0.03280294961279395,0.71338606911949],"aabb_xy":[[-0.6893880636882532,0.0156961440815242],[-0.6551839077715169,0.049909755144063706]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[-0.4155534791137675,-0.31249499719264096,0.71338606911949],"aabb_xy":[[-0.4405534786655059,-0.3226374810577757],[-0.39055347956202896,-0.30235251332750623]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.476752455637781,-1.9599172946154315,0.71338606911949],"aabb_xy":[[-0.49803046378125326,-2.0249172969415046],[-0.45547444749430877,-1.8949172922893582]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[0.34410107385997835,-2.2461943909110316,0.71338606911949],"aabb_xy":[[0.30660107404294473,-2.2508326022221734],[0.38160107367701185,-2.2415561795998897]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.09742067155910294,1.321372014484378,0.71338606911949],"aabb_xy":[[-0.11492067180415233,1.303872226644811],[-0.07992067131405356,1.3388718023239448]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[0.2984540431073799,1.5072272681429495,0.71338606911949],"aabb_xy":[[0.2807784125187815,1.4895470518635465],[0.31612967369597816,1.524907484422352]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[0.3374781558996862,-1.6858851655983031,0.71338606911949],"aabb_xy":[[0.2734781536792792,-1.7302582497235912],[0.40147815812009324,-1.6415120814730146]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6576968023882647,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8371.png","name":"8371"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8371.png","name":"8371"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9836.png","name":"9836"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/378.png","name":"378"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7549.png","name":"7549"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7128.png","name":"7128"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":705.1014281978424,"rotation_z_degrees":101.48174083798776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018184393480092275,-0.00011729728150663282,-0.00835167061265966]},{"name":"camera_2","offset_m":[0.004183343727316668,-0.007253938749875375,-0.0023394014046331305]},{"name":"camera_3","offset_m":[0.001814032569375356,-0.0019922985082980148,0.016212084499441056]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001147614148019878,0.0008151296808025827,-0.0017295609853647696],"end_effector_yaw_offset_degrees":0.5507077127508619},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019114727739927518,0.0007097884782652514,-0.000875372466324292],"end_effector_yaw_offset_degrees":-0.120704705708234},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000671433312574353,0.0016190317859279563,-0.000633067104423454],"end_effector_yaw_offset_degrees":-0.05678000843234976}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004722027149894076,0.002602794125387933],"position_m":[0.22202202714989408,-0.017697205874612064,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002757368411776432,0.003586045436932253],"position_m":[0.21695736841177643,-0.37541395456306775,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000156483112312129,0.0036013084224033433],"position_m":[0.21035648311231211,0.29920130842240333,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014646013853872389,0.002287442006632081],"position_m":[0.35326460138538723,0.13418744200663207,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"170f778810436d73499c273b9bbdfac480c21f824e39b6ff762cfd4fe4af4ad0","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0071.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8371/tex_ceiling_textures_7128/tex_floor_textures_7549/tex_table_textures_9836/tex_wall_textures_378","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":510316109441440688,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":510316109441440688,"visual_seed":510316109441440688,"scene_id":"lab_003","finished_at":"2026-09-04T10:53:10"}
+{"episode_id":"ep_000072","started_at":"2026-09-04T10:53:13","dimensions":{"distractor":{"count":22,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.012317087916483893,-0.7283982138236242,0.71338606911949],"aabb_xy":[[-0.021031056966418375,-0.7508982144828122],[-0.003603118866549402,-0.7058982131644358]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.4395533090588839,-0.444448181236746,0.71338606911949],"aabb_xy":[[0.4325118581081363,-0.4514749329745406],[0.4465947600096315,-0.4374214294989515]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[0.3024061144854072,0.6199985399757186,0.71338606911949],"aabb_xy":[[0.25741352776695675,0.5749985407012698],[0.3473987012038576,0.6649985392501673]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.3471916261780517,0.6037644217891813,0.71338606911949],"aabb_xy":[[-0.35522796087933656,0.5957263024847645],[-0.3391552914767669,0.6118025410935981]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[0.4058182692371546,1.5707344892124229,0.71338606911949],"aabb_xy":[[0.3708182701071989,1.5649892681367585],[0.44081826836711024,1.5764797102880868]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[0.525987705965808,-2.475601517869749,0.71338606911949],"aabb_xy":[[0.44598770856221465,-2.5555940890679314],[0.6059877033694014,-2.3956089466715658]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.2972711919342524,1.3231529512262856,0.71338606911949],"aabb_xy":[[-0.31716223181459263,1.310497139941589],[-0.27738015205391214,1.3358087625109827]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[0.35030371528536586,-2.1536256672489773,0.71338606911949],"aabb_xy":[[0.28630371799971716,-2.1951323862018217],[0.41430371257101445,-2.112118948296134]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.6611524279381588,-0.1838257457007071,0.71338606911949],"aabb_xy":[[-0.6945926031341783,-0.21726937153163714],[-0.627712252742139,-0.15038211986977698]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[-0.3646744455973069,-1.0589016491144325,0.71338606911949],"aabb_xy":[[-0.4246744454438736,-1.115720271307471],[-0.30467444575074004,-1.0020830269213936]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[-0.6295919587179546,-0.3443460695875369,0.71338606911949],"aabb_xy":[[-0.6717763728787853,-0.4083460698647481],[-0.5874075445571239,-0.2803460693103257]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[0.5603196436279798,0.9803862821671427,0.71338606911949],"aabb_xy":[[0.5497521639698808,0.969841252054134],[0.5708871232860788,0.9909313122801511]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[-0.10653868505278108,-1.4368045982167295,0.71338606911949],"aabb_xy":[[-0.144038685158374,-1.4436267600697106],[-0.06903868494718811,-1.4299824363637483]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[0.029471726508394358,-1.5542734872643826,0.71338606911949],"aabb_xy":[[-0.015528274957834497,-1.5992733441258635],[0.0744717279746232,-1.5092736304029022]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.5093069935347565,-1.408426980514042,0.71338606911949],"aabb_xy":[[-0.5141505882959866,-1.4132786329930263],[-0.5044633987735266,-1.403575328035058]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[0.6881769844527785,1.530845523339122,0.71338606911949],"aabb_xy":[[0.6618881601323376,1.5045740896844706],[0.714465808773219,1.557116956993773]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.6690863194975318,0.16842464740340457,0.71338606911949],"aabb_xy":[[0.6366246186156043,0.13829181528850193],[0.7015480203794592,0.19855747951830716]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.010665693104646046,-2.1292077293916725,0.71338606911949],"aabb_xy":[[-0.05847186071841469,-2.1942077320987314],[0.037140474509122605,-2.0642077266846135]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.009864420626775172,1.3341604830710452,0.71338606911949],"aabb_xy":[[-0.06749488951404602,1.2741604841443344],[0.04776604826049567,1.3941604819977556]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[0.6877742965777289,1.2884389418796771,0.71338606911949],"aabb_xy":[[0.680733986644192,1.208438942480006],[0.694814606511266,1.3684389412793487]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.005351305723031552,1.653067627871248,0.71338606911949],"aabb_xy":[[-0.08535130431035097,1.5737520259330868],[0.07464869286428787,1.7323832298094086]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.058365557281548686,-1.1940396678846024,0.71338606911949],"aabb_xy":[[0.050371568703845286,-1.2020397479796923],[0.06635954585925208,-1.1860395877895116]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6534372829055387,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2211.png","name":"2211"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2211.png","name":"2211"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2206.png","name":"2206"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/662.png","name":"662"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4249.png","name":"4249"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/191.png","name":"191"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":636.0592688064164,"rotation_z_degrees":322.3801971199912,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018060863497918214,0.009187271222942123,0.012860646777693049]},{"name":"camera_2","offset_m":[0.002431747748430562,0.004048715917693166,-0.0031454493755858418]},{"name":"camera_3","offset_m":[-0.005935152103393069,-0.005058793965265042,-0.005032362003989519]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005381097665292166,-0.001433269000153749,0.0011303232652668852],"end_effector_yaw_offset_degrees":-0.1639133994716946},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012021955044242394,0.0012668835827015432,0.0002813246798160935],"end_effector_yaw_offset_degrees":0.16514501487605648},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006072135201698843,0.0015961534129433907,0.00026828027307593694],"end_effector_yaw_offset_degrees":0.19242070119138766}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004441142832996303,0.0009004607804969332],"position_m":[0.2128588571670037,-0.019399539219503065,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004768537283143739,0.00028843155795291956],"position_m":[0.20943146271685625,-0.37871156844204706,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004535843942758922,-0.0003768570710460462],"position_m":[0.2056641560572411,0.2952231429289539,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016537135737652977,-0.00022770755154095327],"position_m":[0.3534537135737653,0.13167229244845904,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f142c9f024598c327096a743fc0226dbfc7a56fd759cd817bd91fc16e630ea98","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2211/tex_ceiling_textures_191/tex_floor_textures_4249/tex_table_textures_2206/tex_wall_textures_662","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":4067017153155378864,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":4067017153155378864,"visual_seed":4067017153155378864,"scene_id":"lab_003","finished_at":"2026-09-04T10:55:36"}
+{"episode_id":"ep_000073","started_at":"2026-09-04T10:55:42","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.33008572137327885,0.9795788914588899,0.71338606911949],"aabb_xy":[[0.292585720188486,0.9751606687628293],[0.3675857225580716,0.9839971141549503]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[0.08014350791255431,-0.674338451480391,0.71338606911949],"aabb_xy":[[0.06754080877547787,-0.6869338477052565],[0.09274620704963078,-0.6617430552555255]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[-0.16654381472380242,-0.5898713085049161,0.71338606911949],"aabb_xy":[[-0.1890438147339507,-0.6039675281445195],[-0.14404381471365413,-0.5757750888653129]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[0.12575055326493434,-2.4912758273627342,0.71338606911949],"aabb_xy":[[0.08983704883994463,-2.527189335579489],[0.161664057689924,-2.4553623191459795]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.6877229440798382,1.4700791809693512,0.71338606911949],"aabb_xy":[[0.6797996638410899,1.4475791807313478],[0.6956462243185866,1.4925791812073546]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.6355860560001639,1.1712755104951786,0.71338606911949],"aabb_xy":[[-0.6907112616297546,1.1112755090538915],[-0.580460850370573,1.2312755119364658]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[-0.1439739101301276,-2.557466343730814,0.71338606911949],"aabb_xy":[[-0.2089739112360709,-2.582431716798942],[-0.07897390902418433,-2.5325009706626855]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.2545419399919846,-0.8821284564598786,0.71338606911949],"aabb_xy":[[-0.2706038674505022,-0.9671284582724703],[-0.23848001253346693,-0.7971284546472867]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[-0.5095304471538769,0.18144856143814048,0.71338606911949],"aabb_xy":[[-0.5470304473257487,0.1487478260552333],[-0.4720304469820048,0.21414929682104766]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.11251470083326054,0.6654732074699599,0.71338606911949],"aabb_xy":[[0.1062026012969221,0.659706268216741],[0.11882680036959897,0.6712401467231787]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[0.5650068208985897,-0.3051076840233664,0.71338606911949],"aabb_xy":[[0.48500682042837373,-0.31341839163771484],[0.6450068213688056,-0.2967969764090181]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.038674022571957845,-2.3410154221995576,0.71338606911949],"aabb_xy":[[-0.09367402174854733,-2.3960050969745152],[0.016325976604631642,-2.2860257474246]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.6308241740057492,1.5747092197111638,0.71338606911949],"aabb_xy":[[0.6058241740732313,1.5678265514902405],[0.6558241739382671,1.5815918879320872]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.38630119309807087,1.450593305188581,0.71338606911949],"aabb_xy":[[0.326301192237258,1.3991668751820945],[0.4463011939588836,1.5020197351950673]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.03630242118637117,0.6036571559830288,0.71338606911949],"aabb_xy":[[-0.06130242035200428,0.5967049102776723],[-0.011302422020738057,0.6106094016883854]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.29513566727667023,-0.13017083655334982,0.71338606911949],"aabb_xy":[[-0.359135667537141,-0.1751796359062778],[-0.2311356670161994,-0.0851620372004218]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.2412155758099211,-2.3302294005311515,0.71338606911949],"aabb_xy":[[-0.2906959970238799,-2.394229398444003],[-0.1917351545959623,-2.266229402618299]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.4367518761453082,1.6508802917776921,0.71338606911949],"aabb_xy":[[-0.5167518775754354,1.5713631367650824],[-0.356751874715181,1.7303974467903014]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[-0.3075958558050685,0.25918354751855865,0.71338606911949],"aabb_xy":[[-0.3136904836931868,0.25061415296688994],[-0.30150122791695017,0.2677529420702274]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[0.66668902483936,0.1564236980281808,0.71338606911949],"aabb_xy":[[0.6572715502694972,0.14700752089046173],[0.6761064994092227,0.1658398751658998]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[0.42837625081572384,-1.5587153214120764,0.71338606911949],"aabb_xy":[[0.3784031852832084,-1.6087153212246095],[0.4783493163482393,-1.5087153215995437]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[-0.3080523124602755,-0.6143187360682159,0.71338606911949],"aabb_xy":[[-0.32149883909431876,-0.6277885877213071],[-0.2946057858262321,-0.6008488844151246]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6548445582744183,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2181.png","name":"2181"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2181.png","name":"2181"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9583.png","name":"9583"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1733.png","name":"1733"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5663.png","name":"5663"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1019.png","name":"1019"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":824.8174515644575,"rotation_z_degrees":233.09653841202245,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011272113198127102,0.01452181386876775,-0.006100925208770449]},{"name":"camera_2","offset_m":[0.018935172069525,-0.005906688296763853,0.008253065968814872]},{"name":"camera_3","offset_m":[0.002451809071439201,0.009353281684264858,0.01255160311433565]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[9.880411048334521e-05,-0.001783645362197433,0.001977666456381543],"end_effector_yaw_offset_degrees":-0.6087139466318054},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012113485449952023,0.0008930291553784185,0.001211799763547819],"end_effector_yaw_offset_degrees":-0.17060943310367604},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000941756704171928,0.00026483604693774586,-0.0015692805142819895],"end_effector_yaw_offset_degrees":0.6185823778948221}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001418796933396619,-0.0007404669490893292],"position_m":[0.21588120306660338,-0.02104046694908933,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000945968905401883,0.003263396555853201],"position_m":[0.21325403109459812,-0.3757366034441468,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003774570331244011,-0.003181969096370199],"position_m":[0.2105774570331244,0.2924180309036298,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00042893320581043146,0.004108464567656481],"position_m":[0.35222893320581045,0.13600846456765647,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"66bc4c79b592bcdd02933c7926452107400907f249a341a550e8ddff7455767f","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2181/tex_ceiling_textures_1019/tex_floor_textures_5663/tex_table_textures_9583/tex_wall_textures_1733","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8090581080595822202,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8090581080595822202,"visual_seed":8090581080595822202,"scene_id":"lab_003","finished_at":"2026-09-04T10:58:09"}
+{"episode_id":"ep_000074","started_at":"2026-09-04T10:58:12","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.38610420275327134,-1.112096559302308,0.71338606911949],"aabb_xy":[[-0.4339103703670399,-1.1770965620093667],[-0.33829803513950263,-1.0470965565952488]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.2614557894157061,-0.09475486831249968,0.71338606911949],"aabb_xy":[[-0.33145578582566776,-0.11519280396418138],[-0.1914557930057442,-0.07431693266081793]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.5872126934140671,0.5997373652047813,0.71338606911949],"aabb_xy":[[-0.6222126917247627,0.5920223502812355],[-0.5522126951033718,0.6074523801283268]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[0.4636666525813997,-0.9416213126213835,0.71338606911949],"aabb_xy":[[0.4407509396963499,-0.964525609757807],[0.4865823654664497,-0.91871701548496]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[-0.6082937027170741,-1.780151549250093,0.71338606911949],"aabb_xy":[[-0.6882936998766493,-1.79169915020791],[-0.5282937055574988,-1.768603948292276]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[0.6045544921839345,-0.8750618602621907,0.71338606911949],"aabb_xy":[[0.5965610023886526,-0.8830599922026664],[0.6125479819792167,-0.8670637283217152]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.031738912514155504,1.084206613237602,0.71338606911949],"aabb_xy":[[-0.058261089819863554,1.0067242586524896],[0.12173891484817456,1.161688967822715]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[0.32125145096194174,-2.155253990548322,0.71338606911949],"aabb_xy":[[0.25125144935966226,-2.1686867837499797],[0.3912514525642212,-2.1418211973466645]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[-0.4868995409023489,-0.0059603273042747595,0.71338606911949],"aabb_xy":[[-0.536882491089828,-0.055960326946835164],[-0.43691659071486943,0.044039672338285644]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.30108543067039983,-2.0756283928973183,0.71338606911949],"aabb_xy":[[0.29612941048551866,-2.0981283930994405],[0.306041450855281,-2.053128392695197]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[-0.5960532946814553,0.8033999249633426,0.71338606911949],"aabb_xy":[[-0.6760532920850486,0.7234073537651596],[-0.5160532972778618,0.8833924961615253]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[-0.3507745767106634,1.185246723391589,0.71338606911949],"aabb_xy":[[-0.3875692098355697,1.1483408482950068],[-0.31397994358575715,1.2221525984881714]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.6100335685218365,-1.5870372070337424,0.71338606911949],"aabb_xy":[[0.5250335701044133,-1.6719115024960274],[0.6950335669392598,-1.5021629115714574]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[0.2512277900468113,-1.9235258095645476,0.71338606911949],"aabb_xy":[[0.23372779091244408,-1.9334054366021354],[0.2687277891811784,-1.9136461825269597]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.20723315106760998,1.6190642066553624,0.71338606911949],"aabb_xy":[[0.1913486578022848,1.6047112663565382],[0.2231176443329351,1.6334171469541863]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.4368751624033322,-2.4389819340141234,0.71338606911949],"aabb_xy":[[-0.5008751640813296,-2.4874993254934377],[-0.37287516072533483,-2.3904645425348092]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.3702180220990395,0.46033574592871007,0.71338606911949],"aabb_xy":[[-0.4342180213932077,0.3963496055598559],[-0.30621802280487126,0.5243218862975643]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[-0.2979334860362033,-0.6363259006841504,0.71338606911949],"aabb_xy":[[-0.3629334839178511,-0.6874495643906913],[-0.2329334881545555,-0.5852022369776095]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_18","position":[0.5242723872851349,-1.787892769629011,0.71338606911949],"aabb_xy":[[0.5129106526318487,-1.799261236035299],[0.535634121938421,-1.776524303222723]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[-0.24298878539481994,-1.2016354489368943,0.71338606911949],"aabb_xy":[[-0.2840067287811908,-1.2516354495678517],[-0.20197084200844906,-1.151635448305937]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[-0.08680356702091696,-0.28526952702487307,0.71338606911949],"aabb_xy":[[-0.10435026193703589,-0.32276952858912433],[-0.06925687210479803,-0.2477695254606218]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.1908499788800978,0.8870777326380783,0.71338606911949],"aabb_xy":[[-0.24066675834493256,0.8370777341537748],[-0.14103319941526304,0.9370777311223816]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.44002709508688287,-0.2161787220745257,0.71338606911949],"aabb_xy":[[-0.4504386537673666,-0.22152445541042418],[-0.42961553640639916,-0.21083298873862724]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[0.3352628664796997,1.5308109344763294,0.71338606911949],"aabb_xy":[[0.300262865128218,1.5104511985195084],[0.37026286783118145,1.55117067043315]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6565563616191473,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6093.png","name":"6093"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6093.png","name":"6093"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2745.png","name":"2745"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2397.png","name":"2397"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8503.png","name":"8503"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/131.png","name":"131"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":543.9347276377723,"rotation_z_degrees":31.75133332513427,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01389948415746271,-0.016466246064194813,0.010534058646581142]},{"name":"camera_2","offset_m":[-0.0004122082712289393,0.008583563946142951,0.0060402376418358765]},{"name":"camera_3","offset_m":[-0.012815635792528375,0.005891357283833724,-0.016496657715528433]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001471468684720621,0.0007475710830157569,-0.0004121635767154457],"end_effector_yaw_offset_degrees":-0.17750845804461002},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008907976759131831,-1.8038930235789175e-05,-0.001996303859864678],"end_effector_yaw_offset_degrees":-0.6997002557525127},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007057672376310502,0.00010990249941020703,-0.0010289966193555507],"end_effector_yaw_offset_degrees":-0.42080471268311714}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014521411459554067,-0.00010122199757020642],"position_m":[0.2158478588540446,-0.020401221997570204,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012307877747888421,0.00338949746224878],"position_m":[0.21543078777478886,-0.37561050253775125,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003834990113743543,0.0008898001270026389],"position_m":[0.21403499011374355,0.2964898001270026,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003644792813403671,0.0022074553660201245],"position_m":[0.3554447928134037,0.13410745536602012,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5a8355480b6c4a45eeba16d1456a9baa5c63ddca8416acb32feaed66759ad556","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6093/tex_ceiling_textures_131/tex_floor_textures_8503/tex_table_textures_2745/tex_wall_textures_2397","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":7154155572743828163,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":7154155572743828163,"visual_seed":7154155572743828163,"scene_id":"lab_003","finished_at":"2026-09-04T11:00:55"}
+{"episode_id":"ep_000075","started_at":"2026-09-04T11:00:58","dimensions":{"distractor":{"count":21,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[-0.2753218710569557,1.2028767736881383,0.71338606911949],"aabb_xy":[[-0.29782187058066306,1.1803808262375173],[-0.25282187153324825,1.2253727211387588]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[-0.1248786001711173,-1.8503222784423676,0.71338606911949],"aabb_xy":[[-0.21456567647923275,-1.9403222786968184],[-0.035191523863001825,-1.7603222781879173]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[0.34884293487951856,1.6435642498237022,0.71338606911949],"aabb_xy":[[0.2938474570588591,1.5885642483897953],[0.4038384127001779,1.6985642512576091]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.2072605988700641,-1.243259272261515,0.71338606911949],"aabb_xy":[[0.1572605994298685,-1.293227196745831],[0.2572605983102597,-1.1932913477771985]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.26796978915755293,-0.29922987072515284,0.71338606911949],"aabb_xy":[[-0.2855480913464998,-0.31680436029925774],[-0.2503914869686061,-0.28165538115104793]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[-0.08236884663530097,-2.1371558172538148,0.71338606911949],"aabb_xy":[[-0.16609107213538343,-2.2271558207885107],[0.0013533788647814848,-2.047155813719119]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.4463611080365536,0.9634806125943696,0.71338606911949],"aabb_xy":[[-0.4962438049142499,0.9134806133480948],[-0.3964784111588575,1.0134806118406443]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[-0.10437926788791485,0.663215298463518,0.71338606911949],"aabb_xy":[[-0.14187926770494838,0.6585770871523761],[-0.06687926807088126,0.6678535097746597]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.37096218816653526,0.41159485592035727,0.71338606911949],"aabb_xy":[[0.3059621902848875,0.3604711922138164],[0.43596218604818315,0.4627185196268982]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.4529194817806701,1.6833336624115174,0.71338606911949],"aabb_xy":[[-0.5329194787949181,1.663199110738106],[-0.3729194847664221,1.7034682140849284]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.314881307323664,-1.7326971322259133,0.71338606911949],"aabb_xy":[[-0.3398813065956262,-1.7490424958220758],[-0.28988130805170165,-1.7163517686297511]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[0.04937068184536697,1.2189123129172965,0.71338606911949],"aabb_xy":[[-0.000629317730967735,1.1689317339651908],[0.0993706814217017,1.2688928918694027]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[-0.2340522939575731,1.6339696544687352,0.71338606911949],"aabb_xy":[[-0.2990522965953666,1.5824900557692885],[-0.1690522913197796,1.6854492531681824]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[0.04748523846074626,-1.4319462249265442,0.71338606911949],"aabb_xy":[[0.012485239267927987,-1.4429132709242067],[0.08248523765356452,-1.4209791789288813]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.20573814836615723,-1.6466748079533926,0.71338606911949],"aabb_xy":[[0.12573814620339474,-1.726629991579536],[0.2857381505289197,-1.5667196243272488]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.48916482350997437,-1.1946711349837704,0.71338606911949],"aabb_xy":[[-0.49657727905136284,-1.2005223454053984],[-0.4817523679685859,-1.1888199245621425]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[0.681127304741753,-1.0089197816348907,0.71338606911949],"aabb_xy":[[0.6746256682337483,-1.0186876036612005],[0.6876289412497575,-0.9991519596085809]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[-0.38607093504813556,-1.4391092884661565,0.71338606911949],"aabb_xy":[[-0.41853263593006296,-1.4692421205810589],[-0.35360923416620804,-1.4089764563512537]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[0.15247378876137063,1.67261858049755,0.71338606911949],"aabb_xy":[[0.14804315940653048,1.6671702087628675],[0.15690441811621084,1.6780669522322325]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.38288128789973186,-1.2189650285345706,0.71338606911949],"aabb_xy":[[0.3128812845081698,-1.2542808022380014],[0.4528812912912938,-1.1836492548311397]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[0.1862661973055757,-2.4425168717886474,0.71338606911949],"aabb_xy":[[0.1633504844205258,-2.465421168925071],[0.20918191019062563,-2.419612574652224]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6558769091911877,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1708.png","name":"1708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1708.png","name":"1708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4701.png","name":"4701"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1801.png","name":"1801"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4262.png","name":"4262"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3550.png","name":"3550"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":748.6840355767114,"rotation_z_degrees":348.5290296314054,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003953256327160579,-0.019829513009521453,-0.016618032428862357]},{"name":"camera_2","offset_m":[0.015297579186722369,0.0030342740586591643,-0.010356599159640467]},{"name":"camera_3","offset_m":[-0.017865995749441508,0.008070394654469962,0.006548384805661191]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001031607226549857,0.0015466914240825445,-0.001023593994961591],"end_effector_yaw_offset_degrees":0.59665216536621},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016927354540780333,-0.0007660059123066657,-0.001666745045997025],"end_effector_yaw_offset_degrees":-0.6381836646500965},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017718233414840676,0.0005583050328677804,0.0015835648283413673],"end_effector_yaw_offset_degrees":-0.10521189074317316}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00021126869739030666,-0.00016528650111523584],"position_m":[0.2175112686973903,-0.020465286501115235,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003004757319659228,-0.0014407183191565932],"position_m":[0.21119524268034076,-0.3804407183191566,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00495674841092243,0.0005585562640803539],"position_m":[0.20524325158907758,0.29615855626408033,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027623126639121855,0.0007517272128137274],"position_m":[0.3490376873360878,0.1326517272128137,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"843ced0f52c52bd2d8181f734e72c42b5dd67d8dd018b2622445feadfc09f78c","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1708/tex_ceiling_textures_3550/tex_floor_textures_4262/tex_table_textures_4701/tex_wall_textures_1801","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3434013668093357609,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3434013668093357609,"visual_seed":3434013668093357609,"scene_id":"lab_003","finished_at":"2026-09-04T11:03:51"}
+{"episode_id":"ep_000076","started_at":"2026-09-04T11:03:53","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[-0.412917688932075,-0.06530058752775236,0.71338606911949],"aabb_xy":[[-0.42307070448622425,-0.10137012910049267],[-0.4027646733779255,-0.029231045955012018]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[0.6179552734184455,1.2133862112499254,0.71338606911949],"aabb_xy":[[0.5679552723993102,1.1769199955120975],[0.6679552744375807,1.2498524269877533]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[-0.08380512943597562,-0.7016467083467395,0.71338606911949],"aabb_xy":[[-0.12130513095160732,-0.7128734813628845],[-0.0463051279203439,-0.6904199353305944]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[0.2361072436552173,0.9158112843492336,0.71338606911949],"aabb_xy":[[0.1986072438381837,0.9111730730380916],[0.27360724347225085,0.9204494956603753]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.4022573174602231,-1.773083026350705,0.71338606911949],"aabb_xy":[[0.33225731565147765,-1.7944367951148925],[0.4722573192689685,-1.7517292575865178]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[0.18852002614690477,-1.160067208359001,0.71338606911949],"aabb_xy":[[0.12352002758983191,-1.1898197417728835],[0.2535200247039776,-1.1303146749451183]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[-0.28760779887371796,0.374240921257706,0.71338606911949],"aabb_xy":[[-0.3576078004759975,0.36080812805604845],[-0.21760779727143853,0.3876737144593636]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[0.4184068756757142,0.023026803442659283,0.71338606911949],"aabb_xy":[[0.40911325743856364,-0.014473195045474618],[0.4277004939128648,0.060526801930793184]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[0.49735286006847845,-1.3092158820108704,0.71338606911949],"aabb_xy":[[0.4872711529899049,-1.3892158799029848],[0.5074345671470519,-1.2292158841187555]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.5053479358639252,-2.477767364549789,0.71338606911949],"aabb_xy":[[0.4153479393630534,-2.5236790069682464],[0.5953479323647969,-2.43185572213133]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.03226915001847974,-1.5343490393191654,0.71338606911949],"aabb_xy":[[-0.03173084640884216,-1.581518663141262],[0.09626914644580165,-1.4871794154970692]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.1369018366325785,1.0734459690230134,0.71338606911949],"aabb_xy":[[-0.22690183605094938,1.0400704721788234],[-0.0469018372142076,1.1068214658672029]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.04565180177347605,-2.505720314074215,0.71338606911949],"aabb_xy":[[-0.10565180236949223,-2.560532786619438],[0.014348198822540126,-2.450907841528991]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[0.6373310791452715,1.8174507830978475,0.71338606911949],"aabb_xy":[[0.6313645402045358,1.8114896384384829],[0.6432976180860073,1.8234119277572112]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.5812447011414759,-2.2881365713680966,0.71338606911949],"aabb_xy":[[0.5172447038391295,-2.332502998335953],[0.6452446984438223,-2.2437701444002394]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.4842015161583588,1.572074168481015,0.71338606911949],"aabb_xy":[[0.476165181457074,1.564036049176598],[0.49223785085964367,1.5801122877854317]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.5910047703701091,-0.6172641563856005,0.71338606911949],"aabb_xy":[[0.5310047705235422,-0.6740827785786392],[0.6510047702166758,-0.5604455341925618]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.6755144896303997,-1.976853745785088,0.71338606911949],"aabb_xy":[[0.6476694528497927,-2.0076382445234],[0.703359526411007,-1.9460692470467766]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.3731278556519319,1.3126226939030752,0.71338606911949],"aabb_xy":[[-0.3907606912454595,1.2949997478874522],[-0.35549502005840433,1.3302456399186982]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[-0.43815705338104255,-1.07931430928826,0.71338606911949],"aabb_xy":[[-0.46315705254667566,-1.0862665549936166],[-0.41315705421540944,-1.0723620635829034]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[0.3118822094395517,-0.7070959362526474,0.71338606911949],"aabb_xy":[[0.2940131016850962,-0.7209288442298583],[0.3297513171940072,-0.6932630282754364]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[-0.5394871505055936,-1.7550465618552527,0.71338606911949],"aabb_xy":[[-0.576987151297589,-1.7614144028134424],[-0.5019871497135981,-1.748678720897062]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.3303315366818814,-1.5489554029656178,0.71338606911949],"aabb_xy":[[-0.36279323756380877,-1.57908823508052],[-0.29786983579995385,-1.5188225708507148]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[-0.314957143924387,0.24797394559805097,0.71338606911949],"aabb_xy":[[-0.364957145208227,0.19799509120742884],[-0.26495714264054704,0.297952799988673]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_24","position":[-0.23864751651108457,-2.0931531080035204,0.71338606911949],"aabb_xy":[[-0.26055619865043556,-2.115053774823611],[-0.21673883437173347,-2.0712524411834297]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[-0.14775938098933006,-0.8793786358918518,0.71338606911949],"aabb_xy":[[-0.19773244652184557,-0.929378635704385],[-0.09778631545681463,-0.8293786360793192]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_26","position":[-0.4870990583244436,0.97994132485214,0.71338606911949],"aabb_xy":[[-0.5770990620013617,0.9185089182750354],[-0.3970990546475253,1.0413737314292442]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[-0.3615769307432375,-0.3014533027495956,0.71338606911949],"aabb_xy":[[-0.40282574177315217,-0.356453302261813],[-0.3203281197133227,-0.2464533032373781]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_28","position":[0.3376465213729829,0.507016102151066,0.71338606911949],"aabb_xy":[[0.312646521440465,0.5001334339301428],[0.3626465213055008,0.5138987703719894]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_29","position":[-0.4566347112477295,-0.6632870779356197,0.71338606911949],"aabb_xy":[[-0.536634713410492,-0.7432422615617632],[-0.376634709084967,-0.583331894309476]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_30","position":[-0.16713397266205632,-1.1804333311921416,0.71338606911949],"aabb_xy":[[-0.20213397093217622,-1.1875074588871295],[-0.13213397439193642,-1.1733592034971532]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631552755849913,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1407.png","name":"1407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1407.png","name":"1407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1973.png","name":"1973"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8968.png","name":"8968"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7198.png","name":"7198"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7617.png","name":"7617"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":711.4230579327578,"rotation_z_degrees":218.8438066313488,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002940820501530217,0.001661348036850311,-0.01605778804690056]},{"name":"camera_2","offset_m":[-0.0037309241937864175,-0.014621007418806564,-0.004767252122675739]},{"name":"camera_3","offset_m":[-0.00820321060038931,0.011056491791980299,-0.01492370952613778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001581733085964245,-0.0008657377014523635,-0.0005560417041685596],"end_effector_yaw_offset_degrees":-0.8409851440896583},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005905959714696701,-0.0016672611883405725,0.0004036888939613018],"end_effector_yaw_offset_degrees":-0.027413561763440564},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001540627856027883,0.001786195843044916,9.015920538762512e-05],"end_effector_yaw_offset_degrees":-0.9264870568961279}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005300826971902043,-0.0003154030113913884],"position_m":[0.21676991730280978,-0.020615403011391385,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004722976242334541,-0.0031237524437378265],"position_m":[0.21892297624233453,-0.3821237524437378,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004940593339467392,0.004113064766524794],"position_m":[0.2052594066605326,0.29971306476652476,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003822090937237568,0.0043052481537500095],"position_m":[0.35562209093723757,0.13620524815374999,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"29cb99150f46159861c85e5871d71a3604061f14b6112cc04c1981004dc8b051","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1407/tex_ceiling_textures_7617/tex_floor_textures_7198/tex_table_textures_1973/tex_wall_textures_8968","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":9174551613351135032,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":9174551613351135032,"visual_seed":9174551613351135032,"scene_id":"lab_003","finished_at":"2026-09-04T11:06:48"}
+{"episode_id":"ep_000077","started_at":"2026-09-04T11:06:51","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[-0.3394597730090909,-1.7379019309007648,0.71338606911949],"aabb_xy":[[-0.38945977244928653,-1.7878698553850811],[-0.2894597735688953,-1.6879340064164485]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.13976003485088573,1.1502711002569561,0.71338606911949],"aabb_xy":[[0.08977708466340638,1.1002711006143957],[0.18974298503836504,1.2002710998995165]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.3304984667556911,0.20590803833000093,0.71338606911949],"aabb_xy":[[-0.3799788879696499,0.14190804041714913],[-0.2810180455417323,0.26990803624285276]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[0.14905480896008816,-0.7035383828711148,0.71338606911949],"aabb_xy":[[0.0990548085995221,-0.7535183700807176],[0.19905480932065422,-0.6535583956615117]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[0.13167935700477085,-2.2944439945600212,0.71338606911949],"aabb_xy":[[0.051679356534554924,-2.3027547021743695],[0.21167935747498684,-2.286133286945673]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.025118114582389772,0.8073205049385481,0.71338606911949],"aabb_xy":[[-0.08011811420413562,0.7523368121510754],[0.029881885039356067,0.8623041977260208]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[0.4850914502243522,0.12220738941930698,0.71338606911949],"aabb_xy":[[0.45009145032833336,0.11383315390736704],[0.5200914501203711,0.13058162493124692]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[-0.22311701237030607,-1.5313728705545748,0.71338606911949],"aabb_xy":[[-0.24558178234171119,-1.5538728714334353],[-0.20065224239890095,-1.5088728696757143]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[-0.30511600891757473,0.7640211896255376,0.71338606911949],"aabb_xy":[[-0.3166849896645113,0.7390211895086058],[-0.29354702817063816,0.7890211897424693]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[-0.37261730362451556,1.670292752647637,0.71338606911949],"aabb_xy":[[-0.41870239487924704,1.6062927553950819],[-0.3265322123697841,1.734292749900192]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[0.14983823345084912,1.26274616827199,0.71338606911949],"aabb_xy":[[0.11233823363381557,1.2581079569608482],[0.18733823326788268,1.2673843795831319]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.4175474399618707,-0.8396711014525642,0.71338606911949],"aabb_xy":[[-0.4235139789026065,-0.8456322461119281],[-0.4115809010211349,-0.8337099567932]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.45126245113752383,-2.357290451055074,0.71338606911949],"aabb_xy":[[0.3862624501370233,-2.408076816209749],[0.5162624521380244,-2.306504085900399]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.19241969814902282,-1.0352526616430657,0.71338606911949],"aabb_xy":[[0.157419698172527,-1.0447172776906823],[0.22741969812551865,-1.0257880455954491]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.4626046621431137,-0.218245986820222,0.71338606911949],"aabb_xy":[[0.4314577432995306,-0.2882459855070292],[0.49375158098669686,-0.1482459881334148]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[0.6348901250365417,0.1840632017851802,0.71338606911949],"aabb_xy":[[0.6222633377493453,0.17451712808360728],[0.647516912323738,0.19360927548675308]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.30391991273003466,-2.2518983550187386,0.71338606911949],"aabb_xy":[[-0.3414199139148274,-2.2563165777147987],[-0.2664199115452418,-2.2474801323226776]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.03578726932029119,-2.0275267362414393,0.71338606911949],"aabb_xy":[[-0.04755545611494873,-2.1125267361466613],[-0.02401908252563368,-1.9425267363362182]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.6050867957208811,1.1394968806708898,0.71338606911949],"aabb_xy":[[-0.6296330113436317,1.1092479841218528],[-0.5805405800981303,1.169745777219927]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.1371700178903419,-1.2359678795863267,0.71338606911949],"aabb_xy":[[0.09862432506514085,-1.2745136506425154],[0.17571571071554293,-1.197422108530138]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.2851819881501607,-0.41138378578660006,0.71338606911949],"aabb_xy":[[-0.33518198679608185,-0.46130332944606245],[-0.23518198950423946,-0.3614642421271377]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.5902886558355899,0.6333753589365667,0.71338606911949],"aabb_xy":[[-0.6049320613896229,0.6187166392797825],[-0.5756452502815569,0.6480340785933509]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.32642093573663056,-2.049607937096563,0.71338606911949],"aabb_xy":[[0.30392093572648227,-2.063704156736166],[0.34892093574677885,-2.0355117174569592]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_23","position":[-0.40729315430328794,-0.0927251367436428,0.71338606911949],"aabb_xy":[[-0.44859769736702393,-0.15672513631175988],[-0.36598861123955195,-0.028725137175525703]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[-0.539449968906469,1.6641128344348988,0.71338606911949],"aabb_xy":[[-0.561949104632696,1.6416128336566358],[-0.516950833180242,1.6866128352131617]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[0.5528693284273134,0.2523038519634193,0.71338606911949],"aabb_xy":[[0.5359585959909715,0.23883164637080476],[0.5697800608636551,0.2657760575560338]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[0.5121222104581242,-1.3165539921884624,0.71338606911949],"aabb_xy":[[0.5081617266883899,-1.324221856773983],[0.5160826942278586,-1.3088861276029418]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_27","position":[0.6053149921399836,1.1037642655167086,0.71338606911949],"aabb_xy":[[0.5956833559195541,1.0941269527369994],[0.6149466283604134,1.1134015782964173]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660759953401422,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5373.png","name":"5373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5373.png","name":"5373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4647.png","name":"4647"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9615.png","name":"9615"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4019.png","name":"4019"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6263.png","name":"6263"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":545.2752184877058,"rotation_z_degrees":67.58941495422097,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002536664295390491,0.008767711384449314,0.009980379440441105]},{"name":"camera_2","offset_m":[0.00773630360586813,-0.00970012015063,0.01758516649581501]},{"name":"camera_3","offset_m":[-0.019618818333578633,-0.017216077915334378,-0.0009023354765700826]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008695755975637015,-0.0005514693515717183,0.0002136487654251667],"end_effector_yaw_offset_degrees":0.8379573869147987},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016957281566628813,0.0005795169792335922,0.000996689518623335],"end_effector_yaw_offset_degrees":-0.054086568175139016},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004471553053551087,-0.0014532937012225505,0.00017056017373935205],"end_effector_yaw_offset_degrees":0.4281477448278719}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004556058524747607,-0.001974811192225672],"position_m":[0.2218560585247476,-0.02227481119222567,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004749230239767646,0.001086034797931336],"position_m":[0.21894923023976764,-0.37791396520206866,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014767564485589002,-0.004161833787320025],"position_m":[0.2087232435514411,0.2914381662126799,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00320357105915976,0.00016154785928859574],"position_m":[0.35500357105915975,0.13206154785928859,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0f0c2f4123b5337e48fa22e92e0f270461234cd0ec284eca0f9d54188782d9af","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0077.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5373/tex_ceiling_textures_6263/tex_floor_textures_4019/tex_table_textures_4647/tex_wall_textures_9615","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":6437159462230568689,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":6437159462230568689,"visual_seed":6437159462230568689,"scene_id":"lab_003","finished_at":"2026-09-04T11:09:35"}
+{"episode_id":"ep_000078","started_at":"2026-09-04T11:09:38","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_0","position":[0.5769921135408174,-0.8799144797068175,0.71338606911949],"aabb_xy":[[0.49699211246769703,-0.8896925260442019],[0.6569921146139377,-0.870136433369433]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.4148886550022859,-0.3500303586621154,0.71338606911949],"aabb_xy":[[0.3837417361587028,-0.4200303573489226],[0.446035573845869,-0.28003035997530823]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[0.3977885446228535,-0.8022960403511568,0.71338606911949],"aabb_xy":[[0.3725677077630138,-0.8275197912040433],[0.4230093814826931,-0.7770722894982698]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.06189634075611983,1.698825852935904,0.71338606911949],"aabb_xy":[[0.02439634233271947,1.685661638968073],[0.09939633917952018,1.7119900669037345]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[0.514382719273331,0.5032523756994935,0.71338606911949],"aabb_xy":[[0.4860530093247908,0.4987916335057765],[0.5427124292218712,0.5077131178932106]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.030310671243368725,1.20566178587059,0.71338606911949],"aabb_xy":[[-0.09531067220049592,1.1537135739368847],[0.03468932971375848,1.2576099978042958]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.25311265609364003,-0.8571956971238377,0.71338606911949],"aabb_xy":[[-0.2701227533836907,-0.8733301856221116],[-0.23610255880358938,-0.8410612086255638]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[0.15102890188434093,1.0127951919224056,0.71338606911949],"aabb_xy":[[0.14173528364719032,0.9752951934342715],[0.16032252012149148,1.0502951904105393]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.18811169191786203,-1.0575675555387565,0.71338606911949],"aabb_xy":[[0.17933046477062584,-1.0663473028272872],[0.19689291906509832,-1.0487878082502267]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.5644651131392975,-0.21347233631502993,0.71338606911949],"aabb_xy":[[0.5173357341374617,-0.2774723373594319],[0.611594492141133,-0.14947233527062798]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.5944783479965048,-2.149106979177737,0.71338606911949],"aabb_xy":[[0.5862638028808207,-2.1577835694753777],[0.6026928931121887,-2.140430388880095]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.16220810022776477,1.2396691711482193,0.71338606911949],"aabb_xy":[[0.11223068336251117,1.1896691696589705],[0.21218551709301833,1.2896691726374676]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.6162852058342854,-2.085620784862843,0.71338606911949],"aabb_xy":[[0.603658418547089,-2.095166858564416],[0.6289119931214817,-2.0760747111612705]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.2612717302740136,-2.5540373054626317,0.71338606911949],"aabb_xy":[[0.23877530884014958,-2.576537305269379],[0.2837681517078778,-2.5315373056558843]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.1494330503862097,0.8960788601082359,0.71338606911949],"aabb_xy":[[0.13193305110812278,0.8787407600418901],[0.16693304966429653,0.913416960174582]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[0.39113292948689016,0.44459989585794757,0.71338606911949],"aabb_xy":[[0.34131615002205534,0.39459989737364415],[0.44094970895172486,0.4945998943422509]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.3445147479274092,0.7712084158788111,0.71338606911949],"aabb_xy":[[-0.3731640802878254,0.7425628566017352],[-0.31586541556699294,0.7998539751558867]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.6450552908385221,-1.4168235394951734,0.71338606911949],"aabb_xy":[[-0.6579271943394621,-1.4968235399090093],[-0.6321833873375818,-1.336823539081337]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.24306530001210058,-1.8274282138274562,0.71338606911949],"aabb_xy":[[-0.3330652994304715,-1.860803710671646],[-0.15306530059372966,-1.7940527169832665]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[-0.3430365622142168,0.3256165723840265,0.71338606911949],"aabb_xy":[[-0.3590984896727344,0.24061657057143473],[-0.3269746347556991,0.41061657419661834]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[0.14639356067895948,-0.7680606802979619,0.71338606911949],"aabb_xy":[[0.08239356041848865,-0.8130694796508899],[0.21039356093943026,-0.7230518809450339]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[-0.23057485438762865,-0.5701142648517714,0.71338606911949],"aabb_xy":[[-0.29457485673043016,-0.6150551160959039],[-0.16657485204482708,-0.5251734136076389]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[0.603008200856447,-1.2902824634690517,0.71338606911949],"aabb_xy":[[0.5530082022105258,-1.340202007128514],[0.6530081995023682,-1.2403629198095891]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[0.14578379164243682,-1.1828404979608067,0.71338606911949],"aabb_xy":[[0.09079058030530006,-1.2378404982996003],[0.2007770029795736,-1.127840497622013]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_24","position":[-0.3311534694196848,0.14236188705875863,0.71338606911949],"aabb_xy":[[-0.35365346942983306,0.12826566741915535],[-0.3086534694095365,0.1564581066983619]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[0.6817567819725616,-0.1572787914173457,0.71338606911949],"aabb_xy":[[0.6705117264019438,-0.16852058914144094],[0.6930018375431795,-0.14603699369325038]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_26","position":[-0.21336761770841606,-0.4393063441519125,0.71338606911949],"aabb_xy":[[-0.27736761501076246,-0.4836727711197692],[-0.14936762040606963,-0.3949399171840557]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6635645901643774,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9538.png","name":"9538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9538.png","name":"9538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3853.png","name":"3853"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1032.png","name":"1032"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1699.png","name":"1699"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3689.png","name":"3689"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":619.9418244386768,"rotation_z_degrees":107.63106625262475,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017558658869154625,-0.0024410565329129955,-0.011196913351668822]},{"name":"camera_2","offset_m":[-0.013413527442664015,0.0049245427511274455,0.017218210392378936]},{"name":"camera_3","offset_m":[-0.012768333120641854,0.006995334316330048,-0.0002068990266117024]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007517950218510791,-0.0018433092465335772,-6.680193353949485e-05],"end_effector_yaw_offset_degrees":0.43750759055328503},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013093333102507433,-0.0015692781904758121,-0.00046921100101100636],"end_effector_yaw_offset_degrees":-0.3731719685277126},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013643045295809765,-0.0007485538249492921,0.0018432662645377282],"end_effector_yaw_offset_degrees":-0.48187985823963}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004001222227507946,0.0009280569746338094],"position_m":[0.22130122222750795,-0.01937194302536619,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004028126340310114,-0.004815448555044695],"position_m":[0.2182281263403101,-0.3838154485550447,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027376554787229236,-0.0014417935066808997],"position_m":[0.21293765547872293,0.2941582064933191,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026542172786058775,-0.0016581200336812287],"position_m":[0.3544542172786059,0.13024187996631875,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c689cf197b67f7a9ccb071c7653cdc370b59205859eb06e1625ec1d5b26e3f1c","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9538/tex_ceiling_textures_3689/tex_floor_textures_1699/tex_table_textures_3853/tex_wall_textures_1032","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":6425852833834921317,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":6425852833834921317,"visual_seed":6425852833834921317,"scene_id":"lab_003","finished_at":"2026-09-04T11:12:30"}
+{"episode_id":"ep_000079","started_at":"2026-09-04T11:12:33","dimensions":{"distractor":{"count":21,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.6772339234695397,-1.6704805695172786,0.71338606911949],"aabb_xy":[[0.6401998140414799,-1.704857776850988],[0.7142680328975993,-1.6361033621835692]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.21595803747921005,-0.6568541769199061,0.71338606911949],"aabb_xy":[[-0.22395152727449216,-0.6648523088603819],[-0.2079645476839281,-0.6488560449794307]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.6740542561332401,0.33192496787258197,0.71338606911949],"aabb_xy":[[0.6666418005918516,0.326073757450954],[0.6814667116746286,0.3377761782942099]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.330698842923395,-1.7866534395951899,0.71338606911949],"aabb_xy":[[0.28069884427747377,-1.8365729832546522],[0.38069884156931616,-1.7367338959357275]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.1237872159948118,1.0355147557616644,0.71338606911949],"aabb_xy":[[-0.1467029288798617,1.0126104586252411],[-0.10087150310976191,1.0584190528980881]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.4362641385807424,1.5183833608248416,0.71338606911949],"aabb_xy":[[0.43093162392612944,1.513059032579606],[0.4415966532353554,1.5237076890700771]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[0.2816863062594075,1.2763163434445333,0.71338606911949],"aabb_xy":[[0.2761046346252787,1.2638163436267578],[0.2872679778935362,1.2888163432623088]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.45661379682735737,-1.3719296437234139,0.71338606911949],"aabb_xy":[[0.44227937170119397,-1.3839898592779527],[0.4709482219535209,-1.359869428168875]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[-0.06105232284928419,1.197621370863689,0.71338606911949],"aabb_xy":[[-0.07282050964394172,1.1126213709584676],[-0.049284136054626684,1.2826213707689107]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.5613018741947264,-1.776348077601548,0.71338606911949],"aabb_xy":[[0.5238018735301476,-1.7920351356017696],[0.598801874859305,-1.7606610196013253]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[0.6024971484177197,-0.4166979320796096,0.71338606911949],"aabb_xy":[[0.5574971469514909,-0.46169778894109037],[0.6474971498839486,-0.371698075218129]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[0.3941211441956183,1.350062276192645,0.71338606911949],"aabb_xy":[[0.38590659907993424,1.3413856858950035],[0.4023356893113022,1.3587388664902862]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.23766425244982986,-0.13179572028125364,0.71338606911949],"aabb_xy":[[-0.3016642543621722,-0.18770686953926408],[-0.17366425053748752,-0.0758845710232432]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.6441645089996797,0.3527405578652796,0.71338606911949],"aabb_xy":[[-0.6941645100188151,0.31627434212745165],[-0.5941645079805445,0.38920677360310757]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[0.19423369852154093,-0.9576492393616514,0.71338606911949],"aabb_xy":[[0.10423369879836676,-0.9807225918968311],[0.2842336982447151,-0.9345758868264714]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.23288181707936945,-1.9758728111685164,0.71338606911949],"aabb_xy":[[-0.270381816896403,-1.9805110224796583],[-0.1953818172623359,-1.9712345998573746]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.3910253585119625,-2.3449814348138798,0.71338606911949],"aabb_xy":[[-0.4155389826089684,-2.369246028115916],[-0.36651173441495666,-2.320716841511843]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[0.1744676054564821,0.6850196689962216,0.71338606911949],"aabb_xy":[[0.09074537995639964,0.5950196654615256],[0.25818983095656456,0.7750196725309175]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.45486838107474936,0.5637340580894707,0.71338606911949],"aabb_xy":[[0.44724411298457123,0.556100834552927],[0.4624926491649277,0.5713672816260145]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[-0.40981364422446,-0.7661518158245348,0.71338606911949],"aabb_xy":[[-0.4597869382277203,-0.8161518163790821],[-0.3598403502211994,-0.7161518152699874]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.3784331667879891,0.2885532777265758,0.71338606911949],"aabb_xy":[[-0.43342864460864844,0.23355327629266887],[-0.32343768896732966,0.3435532791604827]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6545415294654475,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2826.png","name":"2826"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2826.png","name":"2826"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3678.png","name":"3678"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3431.png","name":"3431"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4480.png","name":"4480"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":691.7248909411901,"rotation_z_degrees":256.3128793315745,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014213073151735551,0.012246408435798228,0.00915455451971614]},{"name":"camera_2","offset_m":[-0.007697276634516088,-0.005330554322544262,0.016893444578719153]},{"name":"camera_3","offset_m":[-0.013529231074050015,0.01086157812647651,-0.006099860600812686]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015338538264512054,0.0010085430358297291,0.0002860978693511695],"end_effector_yaw_offset_degrees":-0.1426249351298472},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005203992308234831,-0.0016099977748376998,-0.0004372837966691262],"end_effector_yaw_offset_degrees":0.2504738493888661},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00155525799079434,0.00011187565133673107,0.0011454139472190034],"end_effector_yaw_offset_degrees":-0.7531896567116045}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0040343629531312455,0.0043504274911747775],"position_m":[0.21326563704686874,-0.01594957250882522,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001196375756765108,0.0034340948960097694],"position_m":[0.2130036242432349,-0.37556590510399024,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024148615510115492,0.004926967378795002],"position_m":[0.20778513844898844,0.300526967378795,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018041045648573666,-0.004859948321184043],"position_m":[0.35360410456485736,0.12704005167881594,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9db0dbd9900d48df14c50e5263a2bdcc67ec3bef4fd3ca886e3db4b792014baa","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2826/tex_ceiling_textures_4480/tex_floor_textures_3393/tex_table_textures_3678/tex_wall_textures_3431","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":437918605998490867,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":437918605998490867,"visual_seed":437918605998490867,"scene_id":"lab_003","finished_at":"2026-09-04T11:15:27"}
+{"episode_id":"ep_000080","started_at":"2026-09-04T11:15:30","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[0.5391960041346846,-1.6446869752457713,0.71338606911949],"aabb_xy":[[0.53269436762668,-1.6544547972720813],[0.5456976406426892,-1.6349191532194618]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[0.6299824334331885,-2.4197322578713556,0.71338606911949],"aabb_xy":[[0.6100913935528484,-2.4323880691560524],[0.6498734733135288,-2.4070764465866588]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[0.2834968435759616,1.0235882941539245,0.71338606911949],"aabb_xy":[[0.19349684684035134,0.97040483083663],[0.37349684031157177,1.076771757471219]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[-0.2211161068150358,-1.9673338968039533,0.71338606911949],"aabb_xy":[[-0.28611610469668364,-2.0184575605104946],[-0.15611610893338804,-1.9162102330974127]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[-0.3409374676043051,-0.47065574468224103,0.71338606911949],"aabb_xy":[[-0.349152012719989,-0.4793323349798823],[-0.33272292248862106,-0.46197915438459974]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[0.40205458598892396,-1.8713434561585105,0.71338606911949],"aabb_xy":[[0.33805458571494573,-1.9214095563557985],[0.4660545862629022,-1.8212773559612225]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.6527550323906224,-2.349699514275963,0.71338606911949],"aabb_xy":[[-0.662048650627773,-2.387199512764097],[-0.6434614141534718,-2.312199515787829]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.11307320140651689,-1.037046752127419,0.71338606911949],"aabb_xy":[[-0.1505732029221486,-1.048273525143564],[-0.07557319989088518,-1.0258199791112739]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.04026224008753243,-1.9098992057125248,0.71338606911949],"aabb_xy":[[0.02335150765119064,-1.923371411305139],[0.057172972523874196,-1.8964270001199102]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.02033289799891891,-2.1426396589222176,0.71338606911949],"aabb_xy":[[-0.08433289870238826,-2.1886580413951386],[0.043667102704550445,-2.0966212764492966]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.43200912352201426,-2.4052746992699388,0.71338606911949],"aabb_xy":[[0.42737400836978084,-2.4091420343470875],[0.43664423867424756,-2.40140736419279]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[0.2850981843316387,-1.5404077630786144,0.71338606911949],"aabb_xy":[[0.26009818505967636,-1.5567531266747767],[0.3100981836036009,-1.524062399482452]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.6412982034869876,0.3715258267322632,0.71338606911949],"aabb_xy":[[-0.6912811536744669,0.3215258270897028],[-0.5913152532995082,0.4215258263748236]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.059765890992102944,1.2566452411486781,0.71338606911949],"aabb_xy":[[-0.10973895652461842,1.2066452413361455],[-0.009792825459587472,1.3066452409612113]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[-0.5764279626777645,-1.2774681752396042,0.71338606911949],"aabb_xy":[[-0.5801312240069034,-1.281170193548322],[-0.5727247013486256,-1.273766156930886]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[0.39991368019081497,-1.375218649854034,0.71338606911949],"aabb_xy":[[0.37126434783039874,-1.4038642091311095],[0.4285630125512312,-1.346573090576958]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[0.0690191055428061,-0.688607607871232,0.71338606911949],"aabb_xy":[[0.005019106956233643,-0.7356145712707406],[0.13301910412937856,-0.6416006444717232]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.6023841361225215,-1.156232196581493,0.71338606911949],"aabb_xy":[[-0.6198841363675708,-1.1737319844210596],[-0.584884135877472,-1.138732408741926]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.4387968139540701,-1.4678629431969727,0.71338606911949],"aabb_xy":[[0.42415340840003707,-1.4825216628537567],[0.45344021950810304,-1.4532042235401883]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[-0.4054084896550747,1.4151596428659237,0.71338606911949],"aabb_xy":[[-0.47040849229286813,1.3636800441664765],[-0.34040848701728116,1.4666392415653704]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659564067563693,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/33.png","name":"33"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/33.png","name":"33"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2367.png","name":"2367"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2016.png","name":"2016"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9791.png","name":"9791"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6746.png","name":"6746"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":557.3828303679461,"rotation_z_degrees":327.88245574696003,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0060040862520651,-0.004494046374126972,-0.0026619504402294533]},{"name":"camera_2","offset_m":[-0.013228548722389967,-0.012243143026364534,-0.011790010454699424]},{"name":"camera_3","offset_m":[-0.016397864807478166,-0.01087931333588227,-0.015667989070622113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019960656304520577,0.00014176534431804052,-0.001982002521021404],"end_effector_yaw_offset_degrees":-0.1021709626801377},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.915379927721404e-05,0.00022020606302500028,0.0017548979838082927],"end_effector_yaw_offset_degrees":0.19230159475558128},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011321575855544716,0.0009747900391514326,-0.0012401821334042593],"end_effector_yaw_offset_degrees":-0.6809325574000507}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00034631688343513944,0.0017884335937006631],"position_m":[0.21764631688343514,-0.018511566406299335,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004934542835925652,-0.004269686336135971],"position_m":[0.21370654571640743,-0.38326968633613595,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0025384939360256656,0.00314397894632728],"position_m":[0.20766150606397432,0.29874397894632726,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027325408602899624,-4.663174214517528e-05],"position_m":[0.34906745913971005,0.13185336825785482,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"658b03e2a96b99a56259321262346c66c4b341a91bc07c7e8c3d4a6ea2dc8c82","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_33/tex_ceiling_textures_6746/tex_floor_textures_9791/tex_table_textures_2367/tex_wall_textures_2016","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":698482251598096480,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":698482251598096480,"visual_seed":698482251598096480,"scene_id":"lab_003","finished_at":"2026-09-04T11:18:15"}
+{"episode_id":"ep_000081","started_at":"2026-09-04T11:18:19","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.5327741045297834,-1.337717913404234,0.71338606911949],"aabb_xy":[[-0.582774106191278,-1.3877163556599363],[-0.48277410286828853,-1.287719471148531]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.22018991405377913,-0.732688340356668,0.71338606911949],"aabb_xy":[[-0.22389317538291797,-0.7363903586653857],[-0.21648665272464024,-0.72898632204795]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.6063600733795138,-0.05868339704378167,0.71338606911949],"aabb_xy":[[0.5688600728821557,-0.06265208059190008],[0.6438600738768722,-0.054714713495663266]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.24921105667612337,-0.5621106394495254,0.71338606911949],"aabb_xy":[[-0.2867110552517441,-0.5748469351130833],[-0.2117110581005025,-0.5493743437859674]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.27037139598822024,-1.5153058544535827,0.71338606911949],"aabb_xy":[[0.24848164839927941,-1.6053058517428318],[0.292261143577161,-1.4253058571643336]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.2791818860820703,1.4406040276542647,0.71338606911949],"aabb_xy":[[-0.3341818842838151,1.4000820610278273],[-0.22418188788032548,1.4811259942807025]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.2700421124347861,-1.9347920209238585,0.71338606911949],"aabb_xy":[[-0.3150346991532365,-1.979792020198307],[-0.22504952571633569,-1.8897920216494095]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[0.0985329224633974,-1.5998381786389673,0.71338606911949],"aabb_xy":[[0.07603650102953331,-1.6223381784457147],[0.12102934389726151,-1.5773381788322198]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[-0.3278509760298029,0.43779573971282115,0.71338606911949],"aabb_xy":[[-0.3818665723117029,0.373795736820564],[-0.2738353797479029,0.5017957426050783]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[0.3658344672198186,1.357782969432248,0.71338606911949],"aabb_xy":[[0.2858344657896914,1.2782658144196386],[0.4458344686499458,1.4373001244448576]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[0.6247042337674655,-1.313968974516188,0.71338606911949],"aabb_xy":[[0.6027955516281144,-1.3358696413362787],[0.6466129159068165,-1.2920683076960973]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[0.5853112642689291,-2.1188346736013193,0.71338606911949],"aabb_xy":[[0.54013994642076,-2.182834670745858],[0.630482582117098,-2.0548346764567813]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[-0.2345911480464692,1.3292925122254862,0.71338606911949],"aabb_xy":[[-0.2442227842668988,1.3196551994457772],[-0.22495951182603957,1.338929825005195]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.44684161762188873,0.11630406835979734,0.71338606911949],"aabb_xy":[[-0.460288144255932,0.10283421670670612],[-0.43339509098784534,0.12977392001288857]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[-0.08581547615044716,-2.2451904394629656,0.71338606911949],"aabb_xy":[[-0.13581030907838876,-2.295190438358209],[-0.035820643222505555,-2.195190440567722]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[0.5022210386974388,-0.36152068880868615,0.71338606911949],"aabb_xy":[[0.47972103818539824,-0.3840125471740844],[0.5247210392094794,-0.3390288304432877]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.31089259583050044,-2.47423170650827,0.71338606911949],"aabb_xy":[[-0.3607093752953352,-2.5242317049925735],[-0.2610758163656657,-2.424231708023967]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.2882017985330501,-1.6800163719947943,0.71338606911949],"aabb_xy":[[-0.34320179815479596,-1.7350000647822672],[-0.23320179891130427,-1.6250326792073218]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.45209737227767044,1.016321129155259,0.71338606911949],"aabb_xy":[[0.4110794288912996,0.9663211285243016],[0.4931153156640414,1.0663211297862163]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[-0.4660495362998199,0.7317925390202196,0.71338606911949],"aabb_xy":[[-0.5460495349567058,0.7172876800959568],[-0.38604953764293387,0.7462973979444824]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[-0.4204418304433681,-2.5014157039688003,0.71338606911949],"aabb_xy":[[-0.4322100172380257,-2.586415703874022],[-0.40867364364871067,-2.4164157040635788]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.30887746169047225,-1.1766635399708618,0.71338606911949],"aabb_xy":[[-0.31765868883770854,-1.1854432872593923],[-0.3000962345432361,-1.1678837926823318]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.1511669167285724,0.280497379469824,0.71338606911949],"aabb_xy":[[-0.16874521891751926,0.2629228898957191],[-0.13358861453962556,0.2980718690439289]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.514957413310394,1.175469687074727,0.71338606911949],"aabb_xy":[[-0.553503106135595,1.136923916018538],[-0.47641172048519287,1.2140154581309155]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[-0.5971287608291177,-2.0665282690509468,0.71338606911949],"aabb_xy":[[-0.6146287601072046,-2.0838663691172927],[-0.5796287615510308,-2.049190168984601]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_25","position":[-0.529140993832283,-2.3192315134350348,0.71338606911949],"aabb_xy":[[-0.5931409952402736,-2.3710204649589595],[-0.46514099242429235,-2.26744256191111]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.4444755886636908,1.455339062671079,0.71338606911949],"aabb_xy":[[-0.5084755910064924,1.4103982114269462],[-0.38047558632088924,1.5002799139152112]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.2096193786184758,-1.9857896693577555,0.71338606911949],"aabb_xy":[[0.1746193787224569,-1.9941639048696953],[0.24461937851449464,-1.9774154338458152]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582119172529969,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5253.png","name":"5253"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5253.png","name":"5253"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4789.png","name":"4789"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/374.png","name":"374"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4540.png","name":"4540"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4423.png","name":"4423"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":621.5775465471369,"rotation_z_degrees":309.3497548065912,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0007837086160809512,0.01134904247229888,-0.0030739011165238257]},{"name":"camera_2","offset_m":[0.010422996927947046,0.01845488713910341,-0.0003283217135131994]},{"name":"camera_3","offset_m":[-0.005002827004788607,0.016292800926015056,-0.015746239343775274]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011308495460949533,-0.0006298276076497401,0.00047772717907478956],"end_effector_yaw_offset_degrees":0.7199223364695027},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006620176363858346,0.0017769427364649013,0.0016377336089211571],"end_effector_yaw_offset_degrees":0.053524105327741545},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00092276764099244,0.0015415475871988367,-0.0011772871863169015],"end_effector_yaw_offset_degrees":0.21155228704290208}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[2.967643170435734e-05,0.003361191982111762],"position_m":[0.21732967643170434,-0.016938808017888236,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026195086196815843,-0.004916266534076534],"position_m":[0.21158049138031843,-0.3839162665340765,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0041830171646424505,-0.0032881859913076695],"position_m":[0.21438301716464245,0.29231181400869233,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00037176200000422436,0.0012178096519207616],"position_m":[0.3514282379999958,0.13311780965192074,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ec472d314bbbae49f464dfaf5571844014a6f1ba0fa659b16f487faff39e9193","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5253/tex_ceiling_textures_4423/tex_floor_textures_4540/tex_table_textures_4789/tex_wall_textures_374","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":6324404999156350305,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":6324404999156350305,"visual_seed":6324404999156350305,"scene_id":"lab_003","finished_at":"2026-09-04T11:21:11"}
+{"episode_id":"ep_000082","started_at":"2026-09-04T11:21:14","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[-0.36228357601605843,-0.558122280211538,0.71338606911949],"aabb_xy":[[-0.39791273191601817,-0.5937549469683909],[-0.3266544201160987,-0.522489613454685]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.21340003277354547,1.1172493943257948,0.71338606911949],"aabb_xy":[[0.16822871492537647,1.0532493971812567],[0.25857135062171444,1.1812493914703335]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[-0.12003211024379767,-1.3011515400706712,0.71338606911949],"aabb_xy":[[-0.13467551579783066,-1.3158102597274555],[-0.10538870468976468,-1.286492820413887]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[0.6625294060636171,-0.569252443690873,0.71338606911949],"aabb_xy":[[0.6127126265987823,-0.6192524421751764],[0.7123461855284519,-0.5192524452065697]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.005039022219443856,1.5493970820116254,0.71338606911949],"aabb_xy":[[-0.014670658439873474,1.5397597692319163],[0.004592614000985762,1.559034394791334]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.20448968878950474,0.40584609845491304,0.71338606911949],"aabb_xy":[[-0.21533016701601962,0.38865981716426423],[-0.1936492105629898,0.42303237974556185]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.35247797572707534,0.5559876845838061,0.71338606911949],"aabb_xy":[[-0.39747056244552575,0.5109876853093573],[-0.30748538900862493,0.6009876838582549]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.3183711552063551,-2.1349768415648303,0.71338606911949],"aabb_xy":[[-0.3554052646344148,-2.1693540488985392],[-0.2813370457782953,-2.1005996342311204]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[0.48873491984660644,-1.8368096876822828,0.71338606911949],"aabb_xy":[[0.4800209507966719,-1.859309688341471],[0.4974488888965409,-1.8143096870230946]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[0.4280413293016345,-0.9233490742399,0.71338606911949],"aabb_xy":[[0.3730458514809751,-0.9783490756738067],[0.48303680712229385,-0.8683490728059928]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[-0.575110798289606,0.11246106180487425,0.71338606911949],"aabb_xy":[[-0.6251056312175476,0.062461062909630716],[-0.5251159653616644,0.1624610607001178]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.06787775933891482,-1.861811730391159,0.71338606911949],"aabb_xy":[[0.06061651176850741,-1.8745987406546687],[0.07513900690932224,-1.8490247201276497]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.39804989234015015,0.04172742852500333,0.71338606911949],"aabb_xy":[[-0.463049890221798,-0.009396235181537546],[-0.33304989445850236,0.0928510922315442]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.6896436933075791,-0.8809203538127188,0.71338606911949],"aabb_xy":[[0.6551812152944912,-0.8875840309956416],[0.7241061713206668,-0.874256676629796]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[0.4538279056492063,1.041238949504987,0.71338606911949],"aabb_xy":[[0.4203877304531866,1.0077953236740567],[0.4872680808452258,1.0746825753359168]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[0.44665910361552497,-0.511036379258369,0.71338606911949],"aabb_xy":[[0.44015746710752035,-0.5208042012846787],[0.4531607401235296,-0.5012685572320592]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[-0.2602274029347933,1.7691998390690116,0.71338606911949],"aabb_xy":[[-0.3102266781032295,1.7191998377930648],[-0.2102281277663572,1.8191998403449592]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.18144758075632172,-0.8217541190775366,0.71338606911949],"aabb_xy":[[-0.18944107055160378,-0.8297522510180124],[-0.1734540909610397,-0.8137559871370612]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[-0.6129442927112138,1.2762607649931375,0.71338606911949],"aabb_xy":[[-0.662944293730349,1.2397945492553095],[-0.5629442916920785,1.3127269807309654]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[0.33096821199254123,-1.354261906113997,0.71338606911949],"aabb_xy":[[0.2934682134169204,-1.366998201777555],[0.36846821056816204,-1.3415256104504392]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[-0.4003957501592839,-0.8968372847456345,0.71338606911949],"aabb_xy":[[-0.43079386125842745,-0.9272441867473039],[-0.36999763906014027,-0.8664303827439649]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.42087867413016467,1.5489452704765658,0.71338606911949],"aabb_xy":[[-0.484878676042507,1.4930341212185556],[-0.3568786722178223,1.6048564197345765]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[-0.5624712888886915,-0.1856768962866826,0.71338606911949],"aabb_xy":[[-0.6240620481126843,-0.2496768943957295],[-0.5008805296646986,-0.12167689817763572]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[-0.2707829054003488,-1.2161811802908347,0.71338606911949],"aabb_xy":[[-0.308282905897707,-1.220149863838953],[-0.23328290490299053,-1.2122124967427164]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[-0.31673627153861694,-1.863620904356404,0.71338606911949],"aabb_xy":[[-0.3667095655418774,-1.9136209049109512],[-0.2667629775353565,-1.8136209038018565]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[0.1751643567746135,-2.313473343762414,0.71338606911949],"aabb_xy":[[0.09516435981157431,-2.390548985406187],[0.25516435373765267,-2.2363977021186403]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[-0.4734878242846099,-2.310327371579203,0.71338606911949],"aabb_xy":[[-0.5235852882656835,-2.374327372089015],[-0.4233903603035363,-2.246327371069391]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[0.2361982909174799,1.2501424356894066,0.71338606911949],"aabb_xy":[[0.22495323534686207,1.2389006379653111],[0.24744334648809774,1.2613842334135017]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[-0.29444552677521313,0.20088063443062332,0.71338606911949],"aabb_xy":[[-0.3087799519013765,0.18882041887608444],[-0.2801111016490496,0.21294084998516213]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_29","position":[0.3889421384218821,0.2728613761270835,0.71338606911949],"aabb_xy":[[0.380828483748505,0.2647555596730544],[0.3970557930952592,0.2809671925811126]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_30","position":[0.6335674177122441,-2.50678472802703,0.71338606911949],"aabb_xy":[[0.5735674160693224,-2.558784877318974],[0.6935674193551661,-2.4547845787350857]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_31","position":[-0.09656231764560141,-2.054743534337708,0.71338606911949],"aabb_xy":[[-0.1097932631802827,-2.067970953359707],[-0.08333137211092011,-2.041516115315708]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_32","position":[-0.010291298549258698,-1.3179391938691944,0.71338606911949],"aabb_xy":[[-0.023163202050198835,-1.3979391942830308],[0.0025806049516814418,-1.2379391934553585]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_33","position":[0.4877500914827708,0.23603308977837667,0.71338606911949],"aabb_xy":[[0.48279407129788976,0.2135330895762551],[0.4927061116676521,0.25853308998049834]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_34","position":[0.28991216872086056,-0.5931346671831093,0.71338606911949],"aabb_xy":[[0.19991217221998878,-0.6390463096015674],[0.37991216522173227,-0.5472230247646509]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6562299998702484,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4183.png","name":"4183"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4183.png","name":"4183"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/200.png","name":"200"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9223.png","name":"9223"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5944.png","name":"5944"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2567.png","name":"2567"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":804.4881580180429,"rotation_z_degrees":131.11732257794569,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017456562126096264,-0.0017530788861711867,4.2344023261337016e-05]},{"name":"camera_2","offset_m":[0.019076468125982914,-0.018183399385613145,0.01803151670213746]},{"name":"camera_3","offset_m":[-0.0017303968116408885,-0.006004183523270106,-0.00552654040173985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001795299981016544,-0.001811779410314001,0.00019452295595031362],"end_effector_yaw_offset_degrees":0.5478538110021078},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013481256935509638,-0.001734130466223332,-0.000816203544815938],"end_effector_yaw_offset_degrees":0.6562644200690948},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016433206493815607,9.72940034812326e-05,-0.0004213175117898716],"end_effector_yaw_offset_degrees":-0.36929541439106317}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002126313036259967,0.0009469906797121164],"position_m":[0.21517368696374004,-0.019353009320287884,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004908677002695652,-0.004704485377206793],"position_m":[0.20929132299730435,-0.3837044853772068,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035473213913358786,0.003946129178200646],"position_m":[0.21374732139133587,0.2995461291782006,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003317749511401535,-0.003937381981520379],"position_m":[0.3551177495114015,0.1279626180184796,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"441316ae999fe13f6d10c907147c331453266a66831097a94fa28decfd0bddaa","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4183/tex_ceiling_textures_2567/tex_floor_textures_5944/tex_table_textures_200/tex_wall_textures_9223","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3062943684242884576,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3062943684242884576,"visual_seed":3062943684242884576,"scene_id":"lab_003","finished_at":"2026-09-04T11:24:06"}
+{"episode_id":"ep_000083","started_at":"2026-09-04T11:24:10","dimensions":{"distractor":{"count":27,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.36810175512141663,-2.166274135734539,0.71338606911949],"aabb_xy":[[-0.39193797276202175,-2.2562741365430257],[-0.34426553748081157,-2.0762741349260527]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[0.37150709589081443,-2.432314546755041,0.71338606911949],"aabb_xy":[[0.3372101848730738,-2.466611432964982],[0.40580400690855506,-2.3980176605450993]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.5954631817099059,0.5850599204618874,0.71338606911949],"aabb_xy":[[-0.6062361556312738,0.5500599222428484],[-0.5846902077885382,0.6200599186809264]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[0.20263762109742245,-0.7256679492843869,0.71338606911949],"aabb_xy":[[0.14263762058956952,-0.7825146829703081],[0.2626376216052754,-0.6688212155984655]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[-0.5539422229126368,1.6066036460982747,0.71338606911949],"aabb_xy":[[-0.6239422247213824,1.585249877334087],[-0.4839422211038915,1.6279574148624618]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.3064766791872395,-0.44046788049257035,0.71338606911949],"aabb_xy":[[-0.32897667900114186,-0.44494249686305115],[-0.2839766793733371,-0.4359932641220898]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.005860846846127754,-1.8976736227862716,0.71338606911949],"aabb_xy":[[-0.043360847343486,-1.90164230633439],[0.03163915365123049,-1.8937049392381529]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.5325262739492025,-0.3564923849840449,0.71338606911949],"aabb_xy":[[-0.5825262756106971,-0.40649082723974755],[-0.48252627228770767,-0.30649394272834213]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[-0.6092399695385078,-1.8727814063985093,0.71338606911949],"aabb_xy":[[-0.6553250607932393,-1.9367814036510644],[-0.5631548782837763,-1.8087814091459542]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[0.6152569888498245,-1.586204039329438,0.71338606911949],"aabb_xy":[[0.6072634990545426,-1.5942021712699141],[0.6232504786451066,-1.578205907388963]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.5440376312568764,-0.7351971538027378,0.71338606911949],"aabb_xy":[[0.4800376348295545,-0.7823667776248343],[0.6080376276841983,-0.6880275299806414]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[0.053006859443464505,-2.306452372465735,0.71338606911949],"aabb_xy":[[-0.008583899780528308,-2.370452370574782],[0.11459761866745732,-2.2424523743566884]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[-0.5970467373462411,-1.709953504998414,0.71338606911949],"aabb_xy":[[-0.6355924301714421,-1.7484992760546028],[-0.55850104452104,-1.6714077339422253]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[0.2862313875730449,1.4022952698526798,0.71338606911949],"aabb_xy":[[0.196231388154674,1.3689197730084899],[0.3762313869914158,1.4356707666968693]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[-0.26583439252893004,-1.3086258856422657,0.71338606911949],"aabb_xy":[[-0.28016881765509344,-1.3206861011968045],[-0.25149996740276653,-1.2965656700877268]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.1200172567778468,-1.4093527016251932,0.71338606911949],"aabb_xy":[[-0.142530948601304,-1.4793527022262005],[-0.09750356495438962,-1.3393527010241855]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.6067453157274114,-2.2486550221114374,0.71338606911949],"aabb_xy":[[0.5568626188497153,-2.298655021357712],[0.6566280126051077,-2.1986550228651627]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.005570208185942449,1.259700654683357,0.71338606911949],"aabb_xy":[[-0.019429791746575442,1.2528179864624338],[0.03057020811846034,1.2665833229042804]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[0.13990680037093173,0.951061799455327,0.71338606911949],"aabb_xy":[[0.13340516386292714,0.9412939774290173],[0.14640843687893637,0.9608296214816369]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.4339820872245961,-1.9046862390653014,0.71338606911949],"aabb_xy":[[0.4227370316539782,-1.9159280367893967],[0.44522714279521386,-1.8934444413412062]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[0.49812240719852285,-0.4916593750091347,0.71338606911949],"aabb_xy":[[0.4431269293778634,-0.5466593764430416],[0.5531178850191822,-0.4366593735752277]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.2754941745594445,-1.480028722031407,0.71338606911949],"aabb_xy":[[-0.3394941766091766,-1.5201232051207147],[-0.21149417250971259,-1.4399342389420988]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[-0.5815684422993717,1.192436604951105,0.71338606911949],"aabb_xy":[[-0.6315526780075489,1.1424366061376094],[-0.5315842065911944,1.2424366037646006]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.6045608961345503,1.5728511331257375,0.71338606911949],"aabb_xy":[[0.5148738198264349,1.4828511328712868],[0.6942479724426658,1.6628511333801879]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[-0.22897455438258268,-0.8694134232024946,0.71338606911949],"aabb_xy":[[-0.2502525625260549,-0.9344134255285675],[-0.2076965462391104,-0.8044134208764214]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[-0.1283005890087341,-1.1224614215406474,0.71338606911949],"aabb_xy":[[-0.21830059134275315,-1.19994377612576],[-0.03830058667471503,-1.0449790669555348]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[-0.500564308792208,-0.7810252560313113,0.71338606911949],"aabb_xy":[[-0.5176663867505762,-0.7981320615625811],[-0.4834622308338399,-0.7639184505000416]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6565304530072202,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7240.png","name":"7240"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7240.png","name":"7240"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4369.png","name":"4369"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1467.png","name":"1467"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8669.png","name":"8669"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7737.png","name":"7737"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":674.8618668531407,"rotation_z_degrees":224.80365691428148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004168276801418479,-0.01248851128203652,0.01454333523405266]},{"name":"camera_2","offset_m":[0.007134508653078617,-0.019106821172119877,0.01756435858548767]},{"name":"camera_3","offset_m":[0.0017034719762017182,-0.0022357841277354656,-0.004828533425053311]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001988490433860789,0.0012514517790620972,-5.870764283249217e-05],"end_effector_yaw_offset_degrees":-0.02031323501853599},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001449127376415308,-0.0017340666866523526,-0.001015569491281325],"end_effector_yaw_offset_degrees":-0.05219103463886943},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[5.465414078345814e-05,-0.001137598357273904,0.0013200473773087363],"end_effector_yaw_offset_degrees":0.60857658598652}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00498704071995476,-0.0034101109488434635],"position_m":[0.21231295928004523,-0.02371011094884346,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003446012619033616,-0.003183364084528453],"position_m":[0.21075398738096637,-0.38218336408452847,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005343609759907789,-0.004101543457432316],"position_m":[0.20966563902400923,0.2914984565425677,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0041355415074929925,-0.0023768003451349875],"position_m":[0.355935541507493,0.129523199654865,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"46cc7134b1cf18c265a00e2b2f8ebde61e41aca9dfc39d560befb2afb894f74c","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0083.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7240/tex_ceiling_textures_7737/tex_floor_textures_8669/tex_table_textures_4369/tex_wall_textures_1467","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5445797511582646298,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5445797511582646298,"visual_seed":5445797511582646298,"scene_id":"lab_003","finished_at":"2026-09-04T11:27:13"}
+{"episode_id":"ep_000084","started_at":"2026-09-04T11:27:19","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.4983203110045228,0.6095844503503418,0.71338606911949],"aabb_xy":[[-0.5158203112638595,0.5954929081615693],[-0.4808203107451862,0.6236759925391145]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.42501463265126627,1.5840857631733587,0.71338606911949],"aabb_xy":[[-0.4584548078472859,1.5506421373424284],[-0.39157445745524666,1.6175293890042886]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_2","position":[0.00479771382023686,1.299422286187406,0.71338606911949],"aabb_xy":[[-0.04921788246166314,1.2354222832951487],[0.05881331010213686,1.363422289079663]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[0.6917555931899315,0.6837277789741041,0.71338606911949],"aabb_xy":[[0.6857890542491957,0.6777666343147399],[0.6977221321306671,0.689688923633468]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.344610212167416,0.15731552009864336,0.71338606911949],"aabb_xy":[[-0.3480508884074732,0.15345408712427888],[-0.3411695359273589,0.16117695307300783]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.28149899413368273,-0.9667365230200109,0.71338606911949],"aabb_xy":[[0.24399899418991633,-0.9750296130548474],[0.31899899407744914,-0.9584434329851742]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.43486926330505515,-2.244090870261044,0.71338606911949],"aabb_xy":[[-0.4716638964299614,-2.280996745357626],[-0.3980746301801489,-2.2071849951644613]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.12925455514571227,-1.921129076379141,0.71338606911949],"aabb_xy":[[-0.1468012500618312,-1.9586290779433921],[-0.11170786022959334,-1.8836290748148896]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.06135329609332918,1.7429689066392258,0.71338606911949],"aabb_xy":[[0.04529136863481153,1.657968904826634],[0.07741522355184681,1.8279689084518176]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[-0.33690590846683255,-1.3910847174098422,0.71338606911949],"aabb_xy":[[-0.3478116845543953,-1.4710847138086711],[-0.3260001323792699,-1.3110847210110128]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.5178155623855712,-1.6137880489798047,0.71338606911949],"aabb_xy":[[-0.5678155618257669,-1.6637559734641205],[-0.46781556294537563,-1.563820124495488]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.4015238765783383,-0.8794920759927922,0.71338606911949],"aabb_xy":[[-0.46552387849068066,-0.9354032252508028],[-0.337523874665996,-0.8235809267347819]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[0.3110605088881877,1.5092051093501992,0.71338606911949],"aabb_xy":[[0.27606050753670597,1.4888453733933782],[0.34606051023966944,1.5295648453070199]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.6056183432121827,-2.4846893114436717,0.71338606911949],"aabb_xy":[[-0.6093216045413214,-2.488391329752389],[-0.6019150818830437,-2.4809872931349535]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[0.1047174892780306,1.0041981442152625,0.71338606911949],"aabb_xy":[[0.09840538974169216,0.9984312049620437],[0.11102958881436903,1.0099650834684815]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.097773716869201,1.0686764105370745,0.71338606911949],"aabb_xy":[[-0.1527691946898604,1.0136764091031676],[-0.0427782390485416,1.1236764119709814]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[0.6543855917959689,-0.5157144848134996,0.71338606911949],"aabb_xy":[[0.6318855915524536,-0.5279191194732715],[0.6768855920394844,-0.5035098501537276]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[-0.15787665066343104,0.28956233213477844,0.71338606911949],"aabb_xy":[[-0.18287665021516952,0.2794198482696437],[-0.13287665111169256,0.29970481599991317]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.5566248506924215,-1.050585283676942,0.71338606911949],"aabb_xy":[[-0.5631264872004261,-1.0603531057032518],[-0.5501232141844169,-1.0408174616506323]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.070444930170249,-2.5053601154512504,0.71338606911949],"aabb_xy":[[0.020451818061057118,-2.555360116125446],[0.12043804227944091,-2.4553601147770547]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[0.39900231481388304,1.318382989075734,0.71338606911949],"aabb_xy":[[0.35372369993273384,1.2543829897275502],[0.44428092969503236,1.3823829884239176]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[-0.28774243503512054,-0.27643037281717975,0.71338606911949],"aabb_xy":[[-0.30685474239309934,-0.2955651516944217],[-0.2686301276771416,-0.2572955939399377]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.2868893058964592,0.8767964575365914,0.71338606911949],"aabb_xy":[[0.26438930608255684,0.8723218411661107],[0.3093893057103616,0.8812710739070722]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[-0.5257366827295382,1.3822361679233093,0.71338606911949],"aabb_xy":[[-0.5543860150899542,1.3535906086462335],[-0.49708735036912177,1.410881727200385]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[0.47968288355665045,-1.2837393138654851,0.71338606911949],"aabb_xy":[[0.3996828865424025,-1.3038738655388966],[0.5596828805708984,-1.263604762192074]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[0.12215540375854561,-1.9226211336807029,0.71338606911949],"aabb_xy":[[0.042155400500702656,-2.002617641472687],[0.20215540701638857,-1.842624625888719]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[-0.006308476699039556,-2.1113733173215703,0.71338606911949],"aabb_xy":[[-0.05630847836053431,-2.1613717595772726],[0.0436915249624552,-2.061374875065867]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[0.0709061160729979,-1.3513266493326341,0.71338606911949],"aabb_xy":[[0.04873358909634708,-1.3735023164887572],[0.09307864304964876,-1.329150982176511]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6548388554191273,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4191.png","name":"4191"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4191.png","name":"4191"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/846.png","name":"846"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4739.png","name":"4739"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/502.png","name":"502"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":843.1023393158209,"rotation_z_degrees":234.83927264943733,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006297832832562786,0.017746633562662987,0.007197649122696194]},{"name":"camera_2","offset_m":[-0.007249691665541458,-0.0007390851840508757,-0.015267787161452495]},{"name":"camera_3","offset_m":[-0.0012109303199716905,0.009728777520809632,-0.0036292378181504853]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00024015164961788626,0.0005942508348860845,5.98902531616383e-05],"end_effector_yaw_offset_degrees":-0.9096000806206461},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012570618995177813,-0.0007913938412145156,0.0015261856102734175],"end_effector_yaw_offset_degrees":-0.3690110118747161},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006127587224217352,-0.0005565617438610601,-0.0006517852135979089],"end_effector_yaw_offset_degrees":-0.487205464856697}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002655340995899266,0.0041970617789460546],"position_m":[0.21995534099589925,-0.016102938221053943,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00022351067432117323,0.004948188314608686],"position_m":[0.21442351067432117,-0.3740518116853913,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004973561079312795,0.003438138221671887],"position_m":[0.2052264389206872,0.29903813822167186,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032560231391378547,-0.0028983998275564603],"position_m":[0.34854397686086214,0.12900160017244353,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e4fc9202e4b7232d7403d8bc412f00532916009cd43fbd86f77b3f0edaf1bad","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4191/tex_ceiling_textures_502/tex_floor_textures_4739/tex_table_textures_4756/tex_wall_textures_846","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8657294621855731455,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8657294621855731455,"visual_seed":8657294621855731455,"scene_id":"lab_003","finished_at":"2026-09-04T11:30:08"}
+{"episode_id":"ep_000085","started_at":"2026-09-04T11:30:11","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[0.5934287531514582,0.32493485514804643,0.71338606911949],"aabb_xy":[[0.5294287539816881,0.27816816802908395],[0.657428752321228,0.3717015422670089]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.5255909930382048,0.5024430692691544,0.71338606911949],"aabb_xy":[[0.4918154338475118,0.48840457405598925],[0.5593665522288978,0.5164815644823193]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[0.14844833810215585,-0.5995201125361149,0.71338606911949],"aabb_xy":[[0.12322750124231617,-0.6247438633890015],[0.1736691749619955,-0.574296361683228]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.3378476269523635,-2.1758972577758504,0.71338606911949],"aabb_xy":[[-0.3928476251541083,-2.2164192244022876],[-0.28284762875061864,-2.1353752911494124]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[0.1744637563712833,-2.0061056752907587,0.71338606911949],"aabb_xy":[[0.08446375695291239,-2.0394811721349484],[0.2644637557896542,-1.972730178446569]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.5692168928325968,-1.542675458076856,0.71338606911949],"aabb_xy":[[-0.619099589710293,-1.5926754573231312],[-0.5193341959549006,-1.4926754588305815]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.03237067214050893,0.13755432423384484,0.71338606911949],"aabb_xy":[[-0.0439396528874455,0.11255432411691313],[-0.020801691393572352,0.16255432435077655]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.4968386698302514,-0.021207017829731,0.71338606911949],"aabb_xy":[[-0.560838670090722,-0.066215817182659],[-0.43283866956978045,0.023801781523197]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[0.11002172348952155,0.8632372371952832,0.71338606911949],"aabb_xy":[[0.06002172212863433,0.8132593326198676],[0.16002172485040878,0.9132151417706988]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.5979173099839448,1.2299222727631114,0.71338606911949],"aabb_xy":[[-0.6619173072862911,1.1855558457952544],[-0.5339173126815983,1.274288699730968]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[0.1005417985197693,1.0448811290497582,0.71338606911949],"aabb_xy":[[0.06554180020907384,1.0371661141262125],[0.13554179683046474,1.0525961439733038]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[0.2821573626362168,-1.8257259681316766,0.71338606911949],"aabb_xy":[[0.24786045161847614,-1.8600228543416177],[0.3164542736539574,-1.7914290819217351]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[-0.5735202742696439,-0.9046630444590718,0.71338606911949],"aabb_xy":[[-0.5812234649437208,-0.9123724151578096],[-0.5658170835955668,-0.8969536737603336]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[-0.5940683826529481,-0.4555578042218129,0.71338606911949],"aabb_xy":[[-0.6392397005011171,-0.5195578013663514],[-0.5488970648047792,-0.3915578070772746]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.19178216724752462,0.19028624143243222,0.71338606911949],"aabb_xy":[[-0.20263377349640022,0.1794269507047812],[-0.18093056099864901,0.20114553216008324]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[-0.3974245590186939,-1.872346170814685,0.71338606911949],"aabb_xy":[[-0.47742456228270697,-1.885906203123598],[-0.3174245557546807,-1.8587861385057713]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.6432084295238554,0.15972542457494665,0.71338606911949],"aabb_xy":[[-0.6932084298844214,0.10974543736534369],[-0.5932084291632893,0.20970541178454957]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[0.692881064615591,1.1606075013385309,0.71338606911949],"aabb_xy":[[0.6750119568611354,1.1467745933613198],[0.7107501723700463,1.174440409315742]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.6805304360105102,1.3066190296986169,0.71338606911949],"aabb_xy":[[0.6745638970697744,1.3006578850392527],[0.6864969749512458,1.312580174357981]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[-0.5623053995717661,-2.436858390717786,0.71338606911949],"aabb_xy":[[-0.6423053967313413,-2.4484059916756027],[-0.4823054024121908,-2.4253107897599686]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6536004829481254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7859.png","name":"7859"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7859.png","name":"7859"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2134.png","name":"2134"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8428.png","name":"8428"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4140.png","name":"4140"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5574.png","name":"5574"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":600.3254268152536,"rotation_z_degrees":192.80569607293785,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010945095699353088,-0.011011649610909408,-0.011645431359747724]},{"name":"camera_2","offset_m":[-0.016625998943230785,0.016411859986177713,0.008405337269098877]},{"name":"camera_3","offset_m":[-0.010042888087167925,-0.0020509927640407384,-0.019381682636949032]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011258264025021873,-0.0003236574042367502,-0.0005914093725535726],"end_effector_yaw_offset_degrees":0.2953302535620781},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010522464989911793,-0.001749509753119106,-8.538659716718789e-05],"end_effector_yaw_offset_degrees":-0.2527446074709123},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006578985177067018,-0.0008069389744094742,-0.0007170210380195536],"end_effector_yaw_offset_degrees":-0.4482229810648495}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029986829462142215,-0.0004862457551351026],"position_m":[0.2202986829462142,-0.020786245755135102,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034885709938859244,0.0018117280271432402],"position_m":[0.2107114290061141,-0.37718827197285676,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010493656631798002,-0.004933316835796822],"position_m":[0.2112493656631798,0.29066668316420313,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002543468961137482,0.004384068481498203],"position_m":[0.35154565310388625,0.13628406848149818,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d928c9772e8cac2946ba9dfa1d46c41d6edd9ab0abd3d8ad2978c173290e4fa","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7859/tex_ceiling_textures_5574/tex_floor_textures_4140/tex_table_textures_2134/tex_wall_textures_8428","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":256373152147486199,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":256373152147486199,"visual_seed":256373152147486199,"scene_id":"lab_003","finished_at":"2026-09-04T11:32:58"}
+{"episode_id":"ep_000086","started_at":"2026-09-04T11:33:01","dimensions":{"distractor":{"count":33,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[0.04301271012182306,1.7904004267150548,0.71338606911949],"aabb_xy":[[-0.03698728703775223,1.778852825757238],[0.12301270728139835,1.801948027672872]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.21214125859731403,1.5147348497527875,0.71338606911949],"aabb_xy":[[0.2048589422206503,1.4247348461432783],[0.2194235749739776,1.6047348533622963]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[-0.5673887470417185,-1.9267590282367,0.71338606911949],"aabb_xy":[[-0.5851822539766349,-1.9445587738324976],[-0.549595240106802,-1.9089592826409023]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.3920860499027679,1.6532750749043879,0.71338606911949],"aabb_xy":[[-0.4419687467804642,1.6032750756581136],[-0.34220335302507177,1.703275074150663]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.650127420702546,-1.7684366122840658,0.71338606911949],"aabb_xy":[[0.6251274215369129,-1.7753888579894224],[0.6751274198681791,-1.7614843665787092]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.1201023357978489,-0.26840062308273716,0.71338606911949],"aabb_xy":[[-0.12406281956758329,-0.27606848766825776],[-0.11614185202811454,-0.26073275849721655]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.45856754672633215,-0.07351522472279548,0.71338606911949],"aabb_xy":[[-0.4784585866066725,-0.08617103600749233],[-0.438676506845992,-0.060859413438098656]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[0.06338046643186557,-1.1918697344125113,0.71338606911949],"aabb_xy":[[-0.0016195346740777161,-1.2168351074806396],[0.12838046753780885,-1.166904361344383]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[-0.5550506257581591,1.539802359657632,0.71338606911949],"aabb_xy":[[-0.6350506244150452,1.5252975007333693],[-0.4750506271012732,1.5543072185818951]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[-0.20372541430074897,0.8001245983012479,0.71338606911949],"aabb_xy":[[-0.23750097349144195,0.7860861030880828],[-0.169949855110056,0.8141630935144129]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.3674995971496824,-1.5939743594164182,0.71338606911949],"aabb_xy":[[0.3299995968575075,-1.5980158348170215],[0.40499959744185715,-1.5899328840158145]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.5547539762035905,-2.358872317256876,0.71338606911949],"aabb_xy":[[0.546759987625887,-2.3668723973519663],[0.5627479647812937,-2.350872237161786]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.4013048677976488,-1.8614663208651465,0.71338606911949],"aabb_xy":[[-0.46530486947564614,-1.9099837123444605],[-0.33730486611965144,-1.812948929385832]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[-0.30288905395830656,-1.6724239918613266,0.71338606911949],"aabb_xy":[[-0.3528890553191938,-1.7224018964367422],[-0.25288905259741934,-1.622446087285911]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[0.37391456854889094,-2.099781561545974,0.71338606911949],"aabb_xy":[[0.3692794533966575,-2.1036488966231217],[0.37854968370112424,-2.095914226468824]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[0.23389748104404795,-2.407485878574498,0.71338606911949],"aabb_xy":[[0.169897481874278,-2.4542525656934604],[0.2978974802138179,-2.3607191914555354]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[0.3441226074485997,-1.9788338500085083,0.71338606911949],"aabb_xy":[[0.25412260772542544,-2.0019072025436873],[0.4341226071717738,-1.9557604974733278]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.12769252009045418,0.6272192498493179,0.71338606911949],"aabb_xy":[[0.09654560124687106,0.5572192511625107],[0.1588394389340373,0.697219248536125]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[-0.270012594551033,1.4929242701118706,0.71338606911949],"aabb_xy":[[-0.34001259635977843,1.4715705013476832],[-0.20001259274228755,1.514278038876058]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[-0.013137182155247396,-2.483973134444741,0.71338606911949],"aabb_xy":[[-0.019231810043365716,-2.4925425289964096],[-0.007042554267129077,-2.475403739893072]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[0.1532867901786087,-1.4687295260367383,0.71338606911949],"aabb_xy":[[0.13440240641009848,-1.4876154508170911],[0.1721711739471189,-1.4498436012563856]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.6338141054042099,-2.1272785564402605,0.71338606911949],"aabb_xy":[[0.5788141057824641,-2.1822622492277333],[0.6888141050259557,-2.072294863652788]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[-0.013837285591011717,1.1324627879588038,0.71338606911949],"aabb_xy":[[-0.051337285408045275,1.127824576647662],[0.02366271422602184,1.1371009992699457]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.1393174448809158,-1.6209007537838063,0.71338606911949],"aabb_xy":[[-0.1943174430826606,-1.6614227204102436],[-0.08431744667917095,-1.5803787871573685]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_24","position":[0.29194261838980173,0.8757001562027757,0.71338606911949],"aabb_xy":[[0.2550920704528141,0.8382001553797419],[0.32879316632678934,0.9132001570258094]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_25","position":[0.09156572322355305,-1.9220235523339788,0.71338606911949],"aabb_xy":[[0.006565724531478412,-1.9540094157288577],[0.1765657219156277,-1.8900376889391]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_26","position":[0.5759015341292384,1.701631952984099,0.71338606911949],"aabb_xy":[[0.5259282401259778,1.6516319524295517],[0.6258748281324987,1.7516319535386464]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.5974313877787025,-0.9447733124756799,0.71338606911949],"aabb_xy":[[0.5624313878826837,-0.9531475479876198],[0.6324313876747214,-0.9363990769637399]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_28","position":[0.6113266539484281,-1.423862130644907,0.71338606911949],"aabb_xy":[[0.5652415626936965,-1.4878621278974624],[0.6574117452031595,-1.3598621333923522]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_29","position":[0.04621410856827146,-2.1904751139862366,0.71338606911949],"aabb_xy":[[-0.013785891939581454,-2.2473218476721577],[0.10621410907612439,-2.1336283803003155]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_30","position":[-0.35624944493139027,-0.27443580342964724,0.71338606911949],"aabb_xy":[[-0.4102650412132902,-0.3384358063219044],[-0.3022338486494902,-0.21043580053739008]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_31","position":[-0.07891995362537296,-1.1841600803806216,0.71338606911949],"aabb_xy":[[-0.08387597381025418,-1.2066600805827434],[-0.07396393344049178,-1.1616600801785002]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_32","position":[-0.47885105319789323,-1.6242656942716684,0.71338606911949],"aabb_xy":[[-0.5163510539898886,-1.6306335352298587],[-0.44135105240589767,-1.6178978533134782]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6545928494375094,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5309.png","name":"5309"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5309.png","name":"5309"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8548.png","name":"8548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2751.png","name":"2751"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7210.png","name":"7210"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6978.png","name":"6978"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":523.6453314020238,"rotation_z_degrees":131.19660790663357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0162926857955762,-0.00018522599209918125,0.01390353547095308]},{"name":"camera_2","offset_m":[0.0027876985777154847,0.013037241526731764,-0.0024599197197449213]},{"name":"camera_3","offset_m":[-0.0193082514665433,0.008276484428771883,-0.005928705007422642]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019640533784088428,0.0007132055280652384,0.001406767166853205],"end_effector_yaw_offset_degrees":-0.06345940815638507},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001409812772458871,-0.0015753199798235645,-0.0014184707381350492],"end_effector_yaw_offset_degrees":-0.22168840268973233},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00020656846702004576,0.0018821801303589127,-0.0005567341638841371],"end_effector_yaw_offset_degrees":-0.1701709998875951}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0002755609803523429,0.000588577620065609],"position_m":[0.21757556098035233,-0.01971142237993439,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007324423807455634,0.00400756302439781],"position_m":[0.21346755761925443,-0.3749924369756022,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004255859346252843,0.0009018846030343789],"position_m":[0.20594414065374717,0.29650188460303434,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022839404531871444,0.0037724222538543543],"position_m":[0.34951605954681286,0.13567242225385434,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f04c20c199a8a05df5a9f6dda7a9ac3193212668fabe6b359f8a7ddce41f7723","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0086.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5309/tex_ceiling_textures_6978/tex_floor_textures_7210/tex_table_textures_8548/tex_wall_textures_2751","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":7709500487966019408,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":7709500487966019408,"visual_seed":7709500487966019408,"scene_id":"lab_003","finished_at":"2026-09-04T11:36:02"}
+{"episode_id":"ep_000087","started_at":"2026-09-04T11:36:06","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[-0.18019587355953226,1.7681888552396399,0.71338606911949],"aabb_xy":[[-0.2401958752024541,1.7161887059476957],[-0.12019587191661041,1.820189004531584]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.538491806854229,1.257713763646577,0.71338606911949],"aabb_xy":[[-0.600082566078222,1.1937137655375303],[-0.47690104763023633,1.321713761755624]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[-0.03208864852302096,0.396013688607868,0.71338606911949],"aabb_xy":[[-0.04250020720350466,0.3906679552719695],[-0.021677089842537238,0.4013594219437665]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.6612728993418424,-0.816560495592332,0.71338606911949],"aabb_xy":[[0.611289949154363,-0.8665604952348922],[0.7112558495293216,-0.7665604959497714]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.6893793771118426,-0.5378106183681508,0.71338606911949],"aabb_xy":[[0.6786064031904748,-0.5728106165871897],[0.7001523510332104,-0.5028106201491117]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[-0.11740720020172224,-1.9341654747762815,0.71338606911949],"aabb_xy":[[-0.12533048044047057,-1.956665475014285],[-0.10948391996297391,-1.9116654745382782]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[-0.05009415880673196,1.5161219509534116,0.71338606911949],"aabb_xy":[[-0.1350941572241552,1.4312476554911264],[0.03490583961069127,1.6009962464156964]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.018391795321388016,-1.4122489755028194,0.71338606911949],"aabb_xy":[[0.012425256380652228,-1.4182101201621833],[0.024358334262123804,-1.406287830843455]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.6327361508659497,-0.35964564978058444,0.71338606911949],"aabb_xy":[[0.5827361492044547,-0.4096440920362871],[0.6827361525274442,-0.3096472075248817]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.19936022966419636,0.8086204102705143,0.71338606911949],"aabb_xy":[[-0.26936023230078265,0.7885155452746487],[-0.12936022702761,0.8287252752663797]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.3702388774163914,1.4321631000911155,0.71338606911949],"aabb_xy":[[0.3202396022479552,1.3821630988151685],[0.42023815258482755,1.4821631013670629]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[-0.022922925186044663,-1.5309781405386724,0.71338606911949],"aabb_xy":[[-0.028255439840657644,-1.536302468783908],[-0.017590410531431674,-1.5256538122934369]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.21987137146954921,-0.3956175576069758,0.71338606911949],"aabb_xy":[[-0.24315321366768058,-0.4806175589042038],[-0.1965895292714179,-0.3106175563097477]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.3200320328106437,-0.07515605638912959,0.71338606911949],"aabb_xy":[[-0.3246671479628771,-0.07902339146627822],[-0.31539691765841027,-0.07128872131198093]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.604045375072882,-0.8472156239669295,0.71338606911949],"aabb_xy":[[-0.6292662119327216,-0.8724393748198161],[-0.5788245382130423,-0.8219918731140426]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.4081997151709222,-1.9405911744098225,0.71338606911949],"aabb_xy":[[-0.4164142602866061,-1.9492677647074634],[-0.39998517005523815,-1.9319145841121808]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.3268645646234866,0.2528831722575289,0.71338606911949],"aabb_xy":[[-0.35685622735735695,0.22288317292072835],[-0.2968729018896163,0.2828831715943294]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[-0.5407433397298826,-2.175515576607335,0.71338606911949],"aabb_xy":[[-0.5782433403944612,-2.191202634607557],[-0.5032433390653038,-2.1598285186071124]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.35736222154985553,-1.0352158974523826,0.71338606911949],"aabb_xy":[[0.31236963483140506,-1.0802158967268314],[0.4023548082683059,-0.9902158981779339]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.5246892026685315,-1.4117884088039705,0.71338606911949],"aabb_xy":[[0.4446892057054923,-1.4888640504477437],[0.6046891996315706,-1.3347127671601968]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[-0.5995579765528198,0.40906122435998826,0.71338606911949],"aabb_xy":[[-0.6258468008732604,0.38278979070533703],[-0.5732691522323791,0.4353326580146395]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[-0.3236482990198681,-2.255229167228,0.71338606911949],"aabb_xy":[[-0.3736482976657893,-2.3051487108874618],[-0.2736483003739469,-2.205309623568537]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[0.6301007639348208,-1.7213880713268035,0.71338606911949],"aabb_xy":[[0.5951007656241254,-1.7291030862503491],[0.6651007622455163,-1.7136730564032578]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[-0.5474181942476548,1.6935740860729154,0.71338606911949],"aabb_xy":[[-0.5760675266080709,1.6649285267958396],[-0.5187688618872385,1.7222196453499912]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_24","position":[-0.27191193140057196,1.3965663144313578,0.71338606911949],"aabb_xy":[[-0.27990591997827535,1.3885662343362672],[-0.26391794282286857,1.404566394526448]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_25","position":[-0.5003964184021907,-0.995035853264955,0.71338606911949],"aabb_xy":[[-0.5096900366393413,-1.0325358517530892],[-0.49110280016504015,-0.9575358547768212]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.36291262353207265,-1.3491284335679383,0.71338606911949],"aabb_xy":[[-0.4429126238056797,-1.4220779813936548],[-0.2829126232584657,-1.2761788857422214]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_27","position":[-0.3093224445770924,-0.6833341882789894,0.71338606911949],"aabb_xy":[[-0.36444765020668307,-0.7433341897202764],[-0.2541972389475015,-0.6233341868377021]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_28","position":[-0.07325534294026992,1.1192021733951725,0.71338606911949],"aabb_xy":[[-0.08241522188414652,1.1126709553516354],[-0.06409546399639332,1.1257333914387095]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6541771398295381,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7.png","name":"7"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7.png","name":"7"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2920.png","name":"2920"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7818.png","name":"7818"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4568.png","name":"4568"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6920.png","name":"6920"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":622.1265900019362,"rotation_z_degrees":102.11112762492239,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01675214506950351,0.015846965117380738,-0.011197292214440857]},{"name":"camera_2","offset_m":[0.010181758789667344,0.017120078829835784,-0.007805151420390075]},{"name":"camera_3","offset_m":[0.006213866282570452,0.01931703809988131,0.011707817922504023]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004141906778956197,8.615871863761147e-05,-0.0013734910028979272],"end_effector_yaw_offset_degrees":0.8266932355486745},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016104224606611848,-0.0011139835492566946,-0.00015808470840252388],"end_effector_yaw_offset_degrees":-0.6204668480964621},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017365310263179538,-0.00021160667683283656,-0.0008364606207524937],"end_effector_yaw_offset_degrees":0.5102858844691334}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030874359953215443,0.001844795286425659],"position_m":[0.22038743599532154,-0.01845520471357434,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001937645863281291,0.0030118991577245393],"position_m":[0.2122623541367187,-0.37598810084227546,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012280643895904676,0.002812677426597584],"position_m":[0.20897193561040953,0.29841267742659755,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00236150612157123,-0.00046448566267410975],"position_m":[0.3541615061215712,0.1314355143373259,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ad87adf718849289dc86531dfb0c2ffab07445f0540a0cc57ed2add194b28737","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0087.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7/tex_ceiling_textures_6920/tex_floor_textures_4568/tex_table_textures_2920/tex_wall_textures_7818","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":256764321592527065,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":256764321592527065,"visual_seed":256764321592527065,"scene_id":"lab_003","finished_at":"2026-09-04T11:38:56"}
+{"episode_id":"ep_000088","started_at":"2026-09-04T11:39:00","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.32241832016972194,1.1225355454443173,0.71338606911949],"aabb_xy":[[0.30114031202624963,1.0575355431182443],[0.34369632831319413,1.1875355477703904]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.23879206912014395,1.589565374139426,0.71338606911949],"aabb_xy":[[0.14879207052567403,1.573314787826005],[0.3287920677146139,1.605815960452847]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.1902700671121309,-1.308314017136651,0.71338606911949],"aabb_xy":[[-0.25427007033076876,-1.3550371290356595],[-0.12627006389349307,-1.2615909052376428]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.11192298128198086,1.4334436118515534,0.71338606911949],"aabb_xy":[[0.07442298009718805,1.4290253891554927],[0.14942298246677363,1.4378618345476137]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[-0.5670301720230377,-1.5402654939090705,0.71338606911949],"aabb_xy":[[-0.6270301726190539,-1.595077966454294],[-0.5070301714270216,-1.485453021363847]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.6557276981948861,-1.3538847744314404,0.71338606911949],"aabb_xy":[[0.5917276989007179,-1.4178709148002946],[0.7197276974890543,-1.2898986340625862]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.4910518715743811,0.9278068883854527,0.71338606911949],"aabb_xy":[[-0.5113361742977798,0.9075242632427437],[-0.47076756885098237,0.9480895135281614]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.6063763024146311,-2.5285406453777313,0.71338606911949],"aabb_xy":[[-0.6613685530501421,-2.5835406471210445],[-0.5513840517791202,-2.473540643634419]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.552008662788988,0.14570453097612335,0.71338606911949],"aabb_xy":[[0.5295086622769474,0.12321267261072497],[0.5745086633010286,0.16819638934152167]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[-0.3391399604963741,0.976126548027668,0.71338606911949],"aabb_xy":[[-0.345553774139559,0.9697167277799996],[-0.33272614685318913,0.9825363682753363]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[0.5491617308239369,1.231402692115485,0.71338606911949],"aabb_xy":[[0.49968130960997803,1.1674026942026334],[0.5986421520378956,1.295402690028337]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[0.6121541549601803,0.8646024952277771,0.71338606911949],"aabb_xy":[[0.597051853499162,0.849500973596715],[0.6272564564211982,0.8797040168588386]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[0.41555367679050215,-2.487190781210735,0.71338606911949],"aabb_xy":[[0.3258666004823867,-2.5771907814651853],[0.5052407530986176,-2.3971907809562842]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[-0.18825490654148191,-0.9212054090919484,0.71338606911949],"aabb_xy":[[-0.26825490512880135,-1.0005210110301093],[-0.1082549079541625,-0.8418898071537875]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.4368190662647399,-2.225883677895461,0.71338606911949],"aabb_xy":[[-0.4908346625466398,-2.2898836807877183],[-0.3828034699828398,-2.161883675003204]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[0.6123050580094196,1.7395302723258177,0.71338606911949],"aabb_xy":[[0.5990741124747382,1.726302853303818],[0.6255360035441008,1.752757691347817]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_16","position":[0.12088862961973479,-2.0520126818903703,0.71338606911949],"aabb_xy":[[0.11625351446750139,-2.055880016967519],[0.12552374477196815,-2.0481453468132216]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[0.48433525177684644,-1.8603431103744237,0.71338606911949],"aabb_xy":[[0.4624455041879057,-1.9503431076636726],[0.5062249993657872,-1.7703431130851743]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.6832615659031507,0.1978946507572048,0.71338606911949],"aabb_xy":[[0.6657148709870317,0.16039464919295357],[0.7008082608192696,0.2353946523214561]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[-0.3011578842272828,-1.9970540937590902,0.71338606911949],"aabb_xy":[[-0.39115788656130185,-2.074536448344203],[-0.21115788189326373,-1.9195717391739773]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.2286501517771754,-0.35525763015779654,0.71338606911949],"aabb_xy":[[-0.28865015342009726,-0.40725777944974073],[-0.16865015013425352,-0.30325748086585236]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.31213014264742456,-1.5408132013478246,0.71338606911949],"aabb_xy":[[0.28380043269888433,-1.545273943541542],[0.3404598525959648,-1.5363524591541078]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[0.5278906213245336,-0.9421511022453419,0.71338606911949],"aabb_xy":[[0.4702601524372625,-1.0021511011720525],[0.5855210902118042,-0.8821511033186312]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.21320834258329963,1.00108245583852,0.71338606911949],"aabb_xy":[[-0.2772083398689483,0.9595757368856759],[-0.14920834529765098,1.0425891747913638]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_24","position":[-0.4382958936495803,-0.17419433095062686,0.71338606911949],"aabb_xy":[[-0.4501679766610814,-0.2591943306442772],[-0.42642381063807916,-0.08919433125697651]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_25","position":[0.6710885464935525,-2.030231309134866,0.71338606911949],"aabb_xy":[[0.634237998556565,-2.067731309957899],[0.7079390944305403,-1.9927313083118317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6560288140695943,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2619.png","name":"2619"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2619.png","name":"2619"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1421.png","name":"1421"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4038.png","name":"4038"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6707.png","name":"6707"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2.png","name":"2"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":789.2289215117577,"rotation_z_degrees":337.0197882305201,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01666593765948425,0.005869594741996841,-0.01612282441545182]},{"name":"camera_2","offset_m":[-0.009632509988135687,-0.00460317782832604,0.0151811351213476]},{"name":"camera_3","offset_m":[0.019169926830961578,0.0154827391527079,0.005916060626898999]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005104633919365256,-0.0015918285685901862,0.0018333147349544323],"end_effector_yaw_offset_degrees":-0.04982899691662834},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001497274445840563,0.0003302826940992003,0.0008556096742325364],"end_effector_yaw_offset_degrees":0.5950630445549325},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015104599906375655,0.0015113921550586624,0.0009359235406050733],"end_effector_yaw_offset_degrees":-0.9053860146389805}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[2.8640984713525046e-05,0.00302336786419088],"position_m":[0.21732864098471352,-0.017276632135809118,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00040745807536620403,0.001968877021479805],"position_m":[0.2137925419246338,-0.3770311229785202,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003926027863816813,-0.0011713423232158969],"position_m":[0.21412602786381682,0.29442865767678406,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-8.845597635007661e-05,0.003134680488143215],"position_m":[0.3517115440236499,0.1350346804881432,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"137847f7abd66770596f46543b280451e1b83d3635e257a34aec5891967daeb8","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2619/tex_ceiling_textures_2/tex_floor_textures_6707/tex_table_textures_1421/tex_wall_textures_4038","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":8504886952610584082,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":8504886952610584082,"visual_seed":8504886952610584082,"scene_id":"lab_003","finished_at":"2026-09-04T11:41:42"}
+{"episode_id":"ep_000089","started_at":"2026-09-04T11:41:47","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[-0.5845618494087561,-1.414161116852311,0.71338606911949],"aabb_xy":[[-0.5909756630519409,-1.420570937099979],[-0.5781480357655711,-1.4077512966046424]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[-0.34265595746289407,0.43077922374265976,0.71338606911949],"aabb_xy":[[-0.360202652379013,0.3932792221784085],[-0.32510926254677514,0.468279225306911]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.47025438827918087,-1.3921565639209226,0.71338606911949],"aabb_xy":[[-0.5342543868657532,-1.4391635273204313],[-0.40625438969260835,-1.3451496005214139]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[0.4040924804842443,1.8003770463871906,0.71338606911949],"aabb_xy":[[0.369092481291426,1.7894100003895277],[0.43909247967706255,1.8113440923848527]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[0.47760104622458033,0.41748584162481706,0.71338606911949],"aabb_xy":[[0.4710994097165757,0.4077180195985074],[0.48410268273258494,0.42725366365112694]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.02897111263346641,-0.6938888362162539,0.71338606911949],"aabb_xy":[[0.01552458599942308,-0.7073586878693451],[0.042417639267509744,-0.6804189845631626]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[0.5460145948665731,0.24500368787851068,0.71338606911949],"aabb_xy":[[0.5351629886176975,0.23414439715085966],[0.5568662011154487,0.2558629786061617]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.24739675037897124,0.8729678106128356,0.71338606911949],"aabb_xy":[[-0.2617311755051347,0.8609075950582967],[-0.2330623252528078,0.8850280261673744]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.6275881992811891,0.2839862360179244,0.71338606911949],"aabb_xy":[[-0.6728668141623384,0.2199862366697407],[-0.5823095844000399,0.34798623536610807]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.17270618980414565,-1.750921103022426,0.71338606911949],"aabb_xy":[[0.1528151499238054,-1.7635769143071234],[0.19259722968448592,-1.7382652917377297]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[0.4548052328252439,-2.0918819168525995,0.71338606911949],"aabb_xy":[[0.437226930636297,-2.1094564064267045],[0.47238353501419067,-2.0743074272784945]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[0.3218935884217409,-0.4965905540704174,0.71338606911949],"aabb_xy":[[0.304393589143654,-0.5139286541367634],[0.33939358769982775,-0.47925245400407146]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.5098342780028572,0.921211113120493,0.71338606911949],"aabb_xy":[[-0.5548268647213076,0.876211113846044],[-0.4648416912844068,0.9662111123949415]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.5331052846217474,-1.9992212687619635,0.71338606911949],"aabb_xy":[[0.5128209818983486,-2.019503893904672],[0.5533895873451461,-1.9789386436192544]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[0.41097310336808524,-1.141494533049057,0.71338606911949],"aabb_xy":[[0.35097310311668406,-1.1957758580855216],[0.4709731036194864,-1.0872132080125922]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[0.18519928260200158,0.6204050131780172,0.71338606911949],"aabb_xy":[[0.15019928433188168,0.613330885483029],[0.22019928087212148,0.6274791408730054]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.23088334101142044,0.9448538346573905,0.71338606911949],"aabb_xy":[[-0.3108833420845407,0.935075788320006],[-0.15088333993830008,0.9546318809947749]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[-0.5366004912762637,-1.997158223055231,0.71338606911949],"aabb_xy":[[-0.6166004915498706,-2.070107770880947],[-0.4566004910026567,-1.924208675229514]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[0.42846927463533024,-0.20838441853021727,0.71338606911949],"aabb_xy":[[0.39096927311969853,-0.21961119154636233],[0.46596927615096195,-0.19715764551407222]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[-0.012263457647612164,-0.8295770789860943,0.71338606911949],"aabb_xy":[[-0.06006962526138081,-0.8945770816931532],[0.03554270996615649,-0.7645770762790353]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.6049213201071181,-1.1899521751293134,0.71338606911949],"aabb_xy":[[-0.638400487368159,-1.2234312885004204],[-0.5714421528460771,-1.1564730617582064]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[-0.4352965930254713,-1.5488806596204752,0.71338606911949],"aabb_xy":[[-0.4527965921598385,-1.558760286658063],[-0.41779659389110413,-1.5390010325828873]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[-0.5409282433164863,0.061698956812692884,0.71338606911949],"aabb_xy":[[-0.5714124934435164,0.011698957031196937],[-0.5104439931894561,0.11169895659418883]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.3840527861643401,-0.8700048536923926,0.71338606911949],"aabb_xy":[[-0.4009635186006818,-0.883477059285007],[-0.36714205372799824,-0.8565326480997779]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.5438472371639793,-0.4316684567213045,0.71338606911949],"aabb_xy":[[-0.5674323606278742,-0.4966684589667362],[-0.5202621137000845,-0.36666845447587265]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[-0.5815805921773173,1.5893852590313267,0.71338606911949],"aabb_xy":[[-0.6715805889129275,1.5362017957140321],[-0.49158059544170707,1.6425687223486212]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_26","position":[-0.19340263448447226,-1.9672243898478183,0.71338606911949],"aabb_xy":[[-0.22339429721834259,-1.9972243891846189],[-0.16341097175060193,-1.9372243905110178]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_27","position":[-0.3809580533867707,-0.7716140131800984,0.71338606911949],"aabb_xy":[[-0.3923197880400568,-0.7829824795863863],[-0.3695963187334845,-0.7602455467738102]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660171635776524,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5769.png","name":"5769"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5769.png","name":"5769"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/439.png","name":"439"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8721.png","name":"8721"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9722.png","name":"9722"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3699.png","name":"3699"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":623.9750953894286,"rotation_z_degrees":202.70197832528362,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01457436637951583,-0.012750647508539027,0.016170943195049147]},{"name":"camera_2","offset_m":[-0.006213601723117331,-0.002559741684325035,0.0029753619664572434]},{"name":"camera_3","offset_m":[0.013014696623426057,0.008744424540532435,-0.014344361272934867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015225248511325283,0.0009340148661762925,0.0014887407851831439],"end_effector_yaw_offset_degrees":-0.7461602764206741},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001308795772674001,-0.001970201276230636,0.0006650466239307888],"end_effector_yaw_offset_degrees":0.2722550436649096},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[9.452572304555901e-05,-0.00027082326455007966,0.0008444363252376754],"end_effector_yaw_offset_degrees":-0.40454885853574596}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003636582958659682,0.0004483086236381365],"position_m":[0.21366341704134031,-0.019851691376361863,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[4.463726404402204e-05,-0.004561629904717328],"position_m":[0.21424463726404402,-0.3835616299047173,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003186472070277912,-0.0032715496448834933],"position_m":[0.21338647207027792,0.29232845035511645,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006751663365767765,0.002915056606450964],"position_m":[0.3524751663365768,0.13481505660645096,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"25f114af304b34589bb8450ca5ce1603b3977a11b0c7a991a255ef1991899fc7","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0089.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5769/tex_ceiling_textures_3699/tex_floor_textures_9722/tex_table_textures_439/tex_wall_textures_8721","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":7234775925607023927,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":7234775925607023927,"visual_seed":7234775925607023927,"scene_id":"lab_003","finished_at":"2026-09-04T11:44:36"}
+{"episode_id":"ep_000090","started_at":"2026-09-04T11:44:42","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[0.5365523900280387,-0.08700057528863914,0.71338606911949],"aabb_xy":[[0.5295109390772911,-0.09402732702643368],[0.5435938409787863,-0.07997382355084459]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.6124740213835798,0.7461613613967781,0.71338606911949],"aabb_xy":[[-0.6212552485308162,0.7373816141082481],[-0.6036927942363436,0.7549411086853085]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.5991788918441472,-1.4962139703181254,0.71338606911949],"aabb_xy":[[-0.6230151094847524,-1.586213971126612],[-0.5753426742035422,-1.406213969509639]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.23679736499509546,1.6951566005633878,0.71338606911949],"aabb_xy":[[-0.286774781860349,1.645156599074139],[-0.18681994812984187,1.7451566020526361]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.2028422533676919,-1.697210429489212,0.71338606911949],"aabb_xy":[[-0.21010350093809935,-1.7099974397527216],[-0.19558100579728452,-1.6844234192257026]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.11198167567737083,-2.421756215667636,0.71338606911949],"aabb_xy":[[0.06216489621253607,-2.471756214151939],[0.1617984551422056,-2.371756217183332]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[-0.23132995452164284,1.1039668122419086,0.71338606911949],"aabb_xy":[[-0.2549150779855377,1.0389668099964768],[-0.207744831057748,1.1689668144873404]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.1675938322670918,0.5567029472843275,0.71338606911949],"aabb_xy":[[0.1371957211679482,0.5262960452826579],[0.19799194336623538,0.587109849285997]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.09066442901996008,0.17886912019653955,0.71338606911949],"aabb_xy":[[-0.12512677641810185,0.14437523779871683],[-0.05620208162181827,0.21336300259436222]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[0.060205436726831096,0.9433693538431633,0.71338606911949],"aabb_xy":[[0.037709015292967,0.9208693540364159],[0.0827018581606952,0.9658693536499108]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[0.636840173607178,-0.22679259510390226,0.71338606911949],"aabb_xy":[[0.6304263599639931,-0.23320241535157055],[0.643253987250363,-0.22038277485623387]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[0.3755862287582421,-0.5916102985218115,0.71338606911949],"aabb_xy":[[0.28558623225737023,-0.6375219409402696],[0.46558622525911375,-0.5456986561033531]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[-0.11604266204024516,-1.030742850008639,0.71338606911949],"aabb_xy":[[-0.17104266024199,-1.0712648166350767],[-0.06104266383850033,-0.9902208833822016]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[-0.4391198800664674,-1.4990072588239893,0.71338606911949],"aabb_xy":[[-0.48042442313020334,-1.5630072583921064],[-0.39781533700273136,-1.4350072592558722]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[0.49789858075835847,1.4909823862044518,0.71338606911949],"aabb_xy":[[0.43389858146419014,1.4269962458355978],[0.5618985800525266,1.5549685265733062]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.1415653666572887,1.353161110191508,0.71338606911949],"aabb_xy":[[-0.14640896141851867,1.3483094577125239],[-0.13672177189605872,1.358012762670492]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[-0.27613727238659147,-2.219151821437331,0.71338606911949],"aabb_xy":[[-0.28529715133046807,-2.2256830394808684],[-0.26697739344271487,-2.2126206033937947]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[0.6964889591001941,0.6107689894924717,0.71338606911949],"aabb_xy":[[0.68827441398451,0.6020923991948302],[0.7047035042158779,0.6194455797901128]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[-0.546211201654474,-2.531633583468285,0.71338606911949],"aabb_xy":[[-0.6011849236908069,-2.5866335830325182],[-0.4912374796181411,-2.476633583904052]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.3260752433648919,-1.7213031267077434,0.71338606911949],"aabb_xy":[[-0.341238116341829,-1.7364685840028624],[-0.31091237038795483,-1.706137669412625]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.43280150355825575,-2.079097815207398,0.71338606911949],"aabb_xy":[[0.3528015013954932,-2.1590529988335416],[0.5128015057210182,-1.9991426315812544]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.07024298456218347,0.6302373202200888,0.71338606911949],"aabb_xy":[[-0.10524298453867931,0.6207727041724721],[-0.03524298458568764,0.6397019362677053]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[0.3058085381614073,1.0883567700430579,0.71338606911949],"aabb_xy":[[0.2683085379895353,1.0556560346601505],[0.3433085383332792,1.1210575054259648]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6622165150718047,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3083.png","name":"3083"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3083.png","name":"3083"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5450.png","name":"5450"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4247.png","name":"4247"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6073.png","name":"6073"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6420.png","name":"6420"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":835.0461719041547,"rotation_z_degrees":206.7604523738268,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009246202088135251,0.013008455055430728,-0.007696417090466397]},{"name":"camera_2","offset_m":[0.003463168724765136,-0.0062983410895131806,-0.006501930250747927]},{"name":"camera_3","offset_m":[-0.007861117328699492,-0.016583681622346403,0.005288149001020037]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014920341954941236,0.0016589133756493967,-0.0008213188887463429],"end_effector_yaw_offset_degrees":-0.7525447165086305},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013761156155503978,-0.0002444982644574556,0.001985039817991323],"end_effector_yaw_offset_degrees":0.9735189770475026},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00035860501606163305,-0.0017837327591339793,-0.00035134007711616643],"end_effector_yaw_offset_degrees":-0.21559795975221419}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017220838564460852,0.0027791826139173005],"position_m":[0.2155779161435539,-0.017520817386082698,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023207754529185965,-0.00489123798311915],"position_m":[0.2165207754529186,-0.38389123798311914,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004778079955543533,-0.0002533140969076019],"position_m":[0.21497807995554352,0.2953466859030924,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00415419100732397,0.0047202018025150816],"position_m":[0.35595419100732395,0.13662020180251508,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"95628cf111f11eae55ee9511d7529b3531fbd99de47c1f6ba54dadc4089d00c5","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3083/tex_ceiling_textures_6420/tex_floor_textures_6073/tex_table_textures_5450/tex_wall_textures_4247","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2050678315715449837,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2050678315715449837,"visual_seed":2050678315715449837,"scene_id":"lab_003","finished_at":"2026-09-04T11:47:27"}
+{"episode_id":"ep_000091","started_at":"2026-09-04T11:47:31","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.3733450436625215,-0.5696296030446932,0.71338606911949],"aabb_xy":[[-0.42334504494636144,-0.6196084574353152],[-0.3233450423786815,-0.519650748654071]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[0.08064161713313822,0.6273554967281192,0.71338606911949],"aabb_xy":[[0.07505994549900943,0.6148554969103437],[0.08622328876726695,0.6398554965458947]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.29882202053043205,-0.548118588318395,0.71338606911949],"aabb_xy":[[0.2683377704034019,-0.5981185880998909],[0.3293062706574622,-0.49811858853689905]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[-0.2920504716301753,-0.8664917618370351,0.71338606911949],"aabb_xy":[[-0.31395915376952627,-0.8883924286571258],[-0.2701417894908242,-0.8445910950169443]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[0.04478316510813962,1.0617657139525751,0.71338606911949],"aabb_xy":[[0.007932617171152012,1.0242657131295414],[0.08163371304512723,1.0992657147756089]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.46434586031620495,-1.6337859845840201,0.71338606911949],"aabb_xy":[[0.41437256631294445,-1.6837859851385675],[0.5143191543194654,-1.5837859840294728]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.6378468405359186,-1.962728250698138,0.71338606911949],"aabb_xy":[[-0.6877295374136148,-2.012728249944413],[-0.5879641436582224,-1.9127282514518635]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.3639611945489556,-2.045553442232581,0.71338606911949],"aabb_xy":[[0.3139769588407784,-2.0955534410460768],[0.4139454302571329,-1.9955534434190856]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.33348819154784404,-2.298081756721641,0.71338606911949],"aabb_xy":[[0.31598819226975716,-2.3154198567879876],[0.3509881908259309,-2.2807436566552957]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.14481113482787944,-1.874244224736094,0.71338606911949],"aabb_xy":[[-0.1948111334738006,-1.9241637683955564],[-0.09481113618195822,-1.8243246810766316]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[-0.5831615111957127,-0.803064492754336,0.71338606911949],"aabb_xy":[[-0.6631615114693196,-0.8760140405800527],[-0.5031615109221056,-0.7301149449286193]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[0.6574150913396288,-1.787746123428927,0.71338606911949],"aabb_xy":[[0.6455430083281276,-1.872746123122577],[0.6692871743511298,-1.7027461237352763]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[0.12884008227026122,-2.1018263686833323,0.71338606911949],"aabb_xy":[[0.12350756761564824,-2.107150696928568],[0.1341725969248742,-2.0965020404380965]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[-0.08043457175083402,0.31299874596846067,0.71338606911949],"aabb_xy":[[-0.16043457500867697,0.23300223817647664],[-0.00043456849299106093,0.3929952537604446]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[0.21938106895547305,1.190334597538008,0.71338606911949],"aabb_xy":[[0.12938107221986278,1.1371511342207135],[0.3093810656910832,1.2435180608553025]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.5166559505471022,1.3441970365194962,0.71338606911949],"aabb_xy":[[0.503504704575813,1.3191970367628096],[0.5298071965183917,1.3691970362761827]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[0.26936467967262345,-1.5342517755996505,0.71338606911949],"aabb_xy":[[0.19936467754119386,-1.557013741225346],[0.33936468180405294,-1.5114898099739547]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[0.22873971790103442,0.7776767381036591,0.71338606911949],"aabb_xy":[[0.16373972001938666,0.7265530743971182],[0.29373971578268226,0.8288004018102001]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.16472972091442517,-1.4092537315340499,0.71338606911949],"aabb_xy":[[-0.229729719471498,-1.4390062649479327],[-0.09972972235735234,-1.3795011981201675]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.6569886206457171,0.6529571279050868,0.71338606911949],"aabb_xy":[[-0.6702195661803982,0.6397297088830872],[-0.6437576751110357,0.6661845469270861]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[-0.5548750013042768,1.0213442312472774,0.71338606911949],"aabb_xy":[[-0.5976417081836971,0.9573442278254749],[-0.5121082944248567,1.0853442346690798]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.28241972050357694,-0.3615230047314695,0.71338606911949],"aabb_xy":[[-0.3036977286470492,-0.42652300705754254],[-0.2611417123601047,-0.2965230024053964]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[-0.41581120605272703,-0.0017320939090583742,0.71338606911949],"aabb_xy":[[-0.45331120615831993,-0.008554255762039496],[-0.378311205947134,0.005090067943922748]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[0.5725646954500809,0.9690775596522836,0.71338606911949],"aabb_xy":[[0.5375646962572626,0.9581105136546207],[0.6075646946428991,0.980044605649946]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[-0.34049357448707673,1.107822968260808,0.71338606911949],"aabb_xy":[[-0.37549357361703234,1.102077747185144],[-0.305493575357121,1.1135681893364722]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[0.4126702753302993,-1.2606017962111185,0.71338606911949],"aabb_xy":[[0.3486702789347262,-1.324565084629852],[0.47667027172587234,-1.196638507792385]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[-0.6529201461263587,1.6110627262829644,0.71338606911949],"aabb_xy":[[-0.660843426365107,1.5885627260449608],[-0.6449968658876103,1.6335627265209676]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[-0.6271598172060938,-2.4829766455537703,0.71338606911949],"aabb_xy":[[-0.6911598192558258,-2.5230711286430783],[-0.5631598151563618,-2.4428821624644623]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_28","position":[-0.5796906659872079,1.8120664607271846,0.71338606911949],"aabb_xy":[[-0.5884718931344443,1.8032867134386548],[-0.5709094388399717,1.8208462080157153]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_29","position":[-0.06658627199847988,-1.5984933528548038,0.71338606911949],"aabb_xy":[[-0.1465862705857993,-1.6778089547929647],[0.013413726588839546,-1.5191777509166429]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_30","position":[-0.45330959800275333,-0.23588747877033756,0.71338606911949],"aabb_xy":[[-0.5333095949657924,-0.312963120414111],[-0.3733096010397141,-0.1588118371265641]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_31","position":[-0.11857715993520634,-2.0564711693172875,0.71338606911949],"aabb_xy":[[-0.1825771585217788,-2.1034781327167957],[-0.054577161348633885,-2.0094642059177783]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_32","position":[0.039678145970701406,0.901924598825433,0.71338606911949],"aabb_xy":[[0.02810916522376483,0.8769245987085013],[0.05124712671763798,0.9269245989423647]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_33","position":[-0.004006554312596111,1.6467779606060717,0.71338606911949],"aabb_xy":[[-0.011267801883003525,1.633990950342562],[0.003254693257811303,1.659564970869581]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6607950931626425,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5882.png","name":"5882"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5882.png","name":"5882"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6833.png","name":"6833"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1525.png","name":"1525"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3938.png","name":"3938"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8331.png","name":"8331"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":601.3330906251886,"rotation_z_degrees":125.45845143666561,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01297563769857259,-0.0036441880042270176,0.0036563602854048673]},{"name":"camera_2","offset_m":[0.0034093117471113883,0.014673744118405083,0.014746908244118225]},{"name":"camera_3","offset_m":[0.0140721519912228,-0.004462812638448974,0.0010144055945058607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016839203741240926,0.0005244022419686393,-0.0011409082746070593],"end_effector_yaw_offset_degrees":0.5877060406340879},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001773475604173493,0.00019351220111746802,-2.1757281405368478e-05],"end_effector_yaw_offset_degrees":-0.7389640272466982},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014512785787398463,-0.0014362138389910628,6.829463474406937e-05],"end_effector_yaw_offset_degrees":-0.035605848037195464}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004575073721222035,0.0007212193842452306],"position_m":[0.22187507372122203,-0.019578780615754767,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008431315292056572,-0.004515810691572752],"position_m":[0.21504313152920565,-0.38351581069157276,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031760487790529488,-0.0033641793548821464],"position_m":[0.20702395122094705,0.2922358206451178,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00294691533302444,-0.0003281680848204764],"position_m":[0.35474691533302444,0.13157183191517952,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c301ea5844e48e03c87d80f2f7f843a6a486824f155d9d0234ad114e429234da","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5882/tex_ceiling_textures_8331/tex_floor_textures_3938/tex_table_textures_6833/tex_wall_textures_1525","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":4029739645576081464,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":4029739645576081464,"visual_seed":4029739645576081464,"scene_id":"lab_003","finished_at":"2026-09-04T11:50:20"}
+{"episode_id":"ep_000092","started_at":"2026-09-04T11:50:24","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[-0.5454388504026844,0.3768895704885278,0.71338606911949],"aabb_xy":[[-0.5704388499544228,0.36674708662339306],[-0.5204388508509459,0.3870320543536625]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.29786031539279373,0.4597716929073652,0.71338606911949],"aabb_xy":[[-0.30270391015402376,0.45492004042838113],[-0.2930167206315638,0.46462334538634936]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.39993074253059163,-1.0769451676767823,0.71338606911949],"aabb_xy":[[-0.4899307392662018,-1.1301286309940768],[-0.30993074579498137,-1.0237617043594878]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.023700913108698596,1.1125439315083838,0.71338606911949],"aabb_xy":[[-0.033929555778572255,1.0525439325816732],[0.08133138199596944,1.1725439304350944]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[0.5543540608290296,0.8502756561367311,0.71338606911949],"aabb_xy":[[0.4993618101935188,0.7952756543934184],[0.6093463114645407,0.9052756578800439]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[-0.17093048557473345,0.46386956622674,0.71338606911949],"aabb_xy":[[-0.2059304847046891,0.4581243451510759],[-0.1359304864447778,0.46961478730240414]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[-0.24785580123265544,0.6591664672639359,0.71338606911949],"aabb_xy":[[-0.3078558010792222,0.6023478450708972],[-0.18785580138608865,0.7159850894569746]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[-0.37967646373052966,-0.6967368124365707,0.71338606911949],"aabb_xy":[[-0.3861781002385343,-0.7065046344628805],[-0.37317482722252504,-0.6869689904102609]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.599499320120708,1.3774065541172593,0.71338606911949],"aabb_xy":[[0.5194993190475877,1.367628507779875],[0.6794993211938284,1.387184600454644]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.1371667870877752,-0.7563719527533992,0.71338606911949],"aabb_xy":[[0.132736157732935,-0.7618203244880819],[0.14159741644261536,-0.7509235810187167]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[-0.0355804293608587,-2.388959874010434,0.71338606911949],"aabb_xy":[[-0.053213264954386275,-2.406582820026057],[-0.01794759376733113,-2.371336927994811]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[-0.26062851499170947,-0.3871761697291629,0.71338606911949],"aabb_xy":[[-0.2655278072982729,-0.4148530890317317],[-0.2557292226851459,-0.35949925042659414]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[-0.3043437094839945,1.6672095843013417,0.71338606911949],"aabb_xy":[[-0.3843437064982425,1.6470750326279302],[-0.22434371246974655,1.6873441359747527]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[-0.26960447787301395,0.8518119614597195,0.71338606911949],"aabb_xy":[[-0.27356496164274835,0.844144096874199],[-0.26564399410327955,0.8594798260452402]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[-0.20622794240668346,-2.342139772334582,0.71338606911949],"aabb_xy":[[-0.24272376303396218,-2.3786237147613396],[-0.1697321217794047,-2.3056558299078245]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[0.6164061354622419,-0.318580483463498,0.71338606911949],"aabb_xy":[[0.5989754203832354,-0.33585259812734874],[0.6338368505412484,-0.3013083687996471]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.3328705373243048,-1.2647016119798207,0.71338606911949],"aabb_xy":[[0.3256092897538974,-1.2774886222433302],[0.34013178489471224,-1.2519146017163112]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[0.716264266678176,0.37134589505830373,0.71338606911949],"aabb_xy":[[0.7102272536775114,0.36531919398935553],[0.7223012796788408,0.377372596127252]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[-0.37338698406904086,-2.0900870001292757,0.71338606911949],"aabb_xy":[[-0.437386987358749,-2.1334219191331933],[-0.30938698077933274,-2.046752081125358]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[-0.354599741722507,-0.0552548878688186,0.71338606911949],"aabb_xy":[[-0.37209967515649034,-0.07275488778905315],[-0.3370998082885236,-0.03775488794858405]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.30521279947935986,-2.2019687513807438,0.71338606911949],"aabb_xy":[[-0.32771279948950816,-2.216064971020347],[-0.2827127994692116,-2.1878725317411405]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6530873453988197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5184.png","name":"5184"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5184.png","name":"5184"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7404.png","name":"7404"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5488.png","name":"5488"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6284.png","name":"6284"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5658.png","name":"5658"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":682.6469218785838,"rotation_z_degrees":279.33533055389216,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009643334946363998,0.0164543583237174,-0.0008691515995378381]},{"name":"camera_2","offset_m":[0.0073892999886350196,-0.016918672490859054,0.01686198137270375]},{"name":"camera_3","offset_m":[-0.00900326004565409,-0.0035521436531688946,0.018403158176238523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015629770122180702,-0.00043236585711982833,-0.0006298386108536968],"end_effector_yaw_offset_degrees":-0.1254059430999117},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005023244121444823,-0.00013933327140766452,0.0015093470719731578],"end_effector_yaw_offset_degrees":-0.40136982616874817},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011444432433917857,-0.0010082384483752072,-0.0009704439042463604],"end_effector_yaw_offset_degrees":0.9365779236362668}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033947393153748355,-0.0033858518225993476],"position_m":[0.22069473931537484,-0.023685851822599347,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004240541617952403,0.0016372019938474102],"position_m":[0.2099594583820476,-0.3773627980061526,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004526158207091395,0.0035233832663996373],"position_m":[0.2056738417929086,0.2991233832663996,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.65790573853467e-05,-0.0027994130164699115],"position_m":[0.35187657905738534,0.12910058698353008,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fd638aedc82fdb7c0ae954602ac162c16b9a436bb66c609992e669bb897b57c9","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0092.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5184/tex_ceiling_textures_5658/tex_floor_textures_6284/tex_table_textures_7404/tex_wall_textures_5488","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3400420446462519037,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3400420446462519037,"visual_seed":3400420446462519037,"scene_id":"lab_003","finished_at":"2026-09-04T11:53:05"}
+{"episode_id":"ep_000093","started_at":"2026-09-04T11:53:10","dimensions":{"distractor":{"count":24,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.19147875830406313,-1.6860638633204104,0.71338606911949],"aabb_xy":[[0.10147876156845295,-1.7392473266377049],[0.28147875503967335,-1.6328804000031159]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.4800023136965683,-2.1358247850569403,0.71338606911949],"aabb_xy":[[0.4300248968313147,-2.1858247865461884],[0.5299797305618218,-2.0858247835676913]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.39860871344018234,-0.683755076937663,0.71338606911949],"aabb_xy":[[0.3336087134058796,-0.7304557536179904],[0.46360871347448507,-0.6370544002573358]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[-0.3204668375193769,0.3105842097427072,0.71338606911949],"aabb_xy":[[-0.3379668367974638,0.2932461096763612],[-0.30296683824129006,0.3279223098090531]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.3679034676512096,-0.5933176395105622,0.71338606911949],"aabb_xy":[[-0.4024945505052548,-0.6583176397955931],[-0.33331238479716435,-0.528317639225531]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.39072216864050774,-1.6682403651710629,0.71338606911949],"aabb_xy":[[-0.4807221683636818,-1.6913137177062427],[-0.30072216891733344,-1.645167012635883]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[-0.14344858899037216,1.6592351000085226,0.71338606911949],"aabb_xy":[[-0.2234485922543853,1.645675067699609],[-0.06344858572635903,1.6727951323174357]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[-0.025420948436643998,-1.9438749103755901,0.71338606911949],"aabb_xy":[[-0.030264543197873972,-1.9487265628545745],[-0.020577353675414023,-1.9390232578966062]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.057954270868748936,-0.31066410562419744,0.71338606911949],"aabb_xy":[[-0.07574777780366537,-0.3284638512199951],[-0.0401607639338325,-0.2928643600283998]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[0.6422926678931691,-0.96198291026213,0.71338606911949],"aabb_xy":[[0.6251905899348009,-0.9790897157933997],[0.6593947458515372,-0.9448761047308601]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[0.3561759223356933,0.5352826085942288,0.71338606911949],"aabb_xy":[[0.34893215628944796,0.45528261039062645],[0.3634196883819386,0.6152826067978312]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[-0.26385056290566744,0.5234482701429415,0.71338606911949],"aabb_xy":[[-0.32385056275223423,0.4666296479499028],[-0.20385056305910065,0.5802668923359802]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[0.6718494363009371,-1.7861855204024881,0.71338606911949],"aabb_xy":[[0.6362202804009774,-1.821818187159341],[0.7074785922008969,-1.7505528536456352]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[0.44232567756420726,-1.6315259582296124,0.71338606911949],"aabb_xy":[[0.4360135780278688,-1.6372928974828314],[0.44863777710054564,-1.6257590189763935]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[-0.6010969446413832,-2.2672761031662576,0.71338606911949],"aabb_xy":[[-0.6171588720999007,-2.352276104978849],[-0.5850350171828654,-2.1822761013536653]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.5470577344451573,-0.375530716786034,0.71338606911949],"aabb_xy":[[0.5136175592491374,-0.408974342616964],[0.5804979096411766,-0.34208709095510387]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[0.6736996985854846,-1.2311607645838032,0.71338606911949],"aabb_xy":[[0.6643526910031895,-1.2454643868014472],[0.68304670616778,-1.2168571423661592]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[-0.13466094418905195,0.5433678761678298,0.71338606911949],"aabb_xy":[[-0.15717463601250914,0.47336787556682214],[-0.11214725236559475,0.6133678767688372]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[0.016998139580364446,-2.284289494344328,0.71338606911949],"aabb_xy":[[0.007366503359934828,-2.293926807124037],[0.026629775800794064,-2.274652181564619]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.36259540976191695,-2.038116204370909,0.71338606911949],"aabb_xy":[[-0.37344701601079255,-2.04897549509856],[-0.35174380351304135,-2.0272569136432583]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.5769581197471478,0.6426085444635343,0.71338606911949],"aabb_xy":[[0.5687435746314636,0.6339319541658928],[0.5851726648628316,0.6512851347611754]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[0.08855610721297846,-0.7127684650550308,0.71338606911949],"aabb_xy":[[0.0830981615759584,-0.7927684683626899],[0.09401405284999853,-0.6327684617473717]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[0.288999353962905,-2.2743878484383044,0.71338606911949],"aabb_xy":[[0.2803013916721897,-2.2865128227457787],[0.2976973162536203,-2.2622628741308293]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[-0.2684468444156167,-0.9013231659846317,0.71338606911949],"aabb_xy":[[-0.35344684310769137,-0.9333090293795103],[-0.18344684572354208,-0.8693373025897526]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.657263753342602,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1211.png","name":"1211"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1211.png","name":"1211"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8238.png","name":"8238"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/42.png","name":"42"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8258.png","name":"8258"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6495.png","name":"6495"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":600.0005681915244,"rotation_z_degrees":315.8158054223263,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018207685238185365,-0.01996066853309446,0.00633072512161122]},{"name":"camera_2","offset_m":[-0.013998384532548331,0.019668547952001802,-0.002362900394422881]},{"name":"camera_3","offset_m":[0.012795976532982267,-0.010074473511543171,-0.013896175443251826]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001418670625020484,-0.000502241339652763,-0.0017641830968609519],"end_effector_yaw_offset_degrees":0.5807040022854622},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008309512652358657,1.933851292693165e-05,0.0006319532519455931],"end_effector_yaw_offset_degrees":0.574540773743847},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015772743063956593,1.928886562909413e-05,-0.0003183034270326144],"end_effector_yaw_offset_degrees":-0.7997210304059132}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010013673693893112,0.003365322710729246],"position_m":[0.2162986326306107,-0.016934677289270752,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037722748303388124,-0.004895462185988795],"position_m":[0.21042772516966118,-0.3838954621859888,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003971325679258329,-0.0003344755202874779],"position_m":[0.21417132567925834,0.2952655244797125,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0041911532377256555,0.00017745616457302913],"position_m":[0.3559911532377257,0.13207745616457303,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cb1f121a87bc6df1b2efafa3f329a24933e3593d44e095c22c6be783941c23fa","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1211/tex_ceiling_textures_6495/tex_floor_textures_8258/tex_table_textures_8238/tex_wall_textures_42","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":3720899354217176799,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":3720899354217176799,"visual_seed":3720899354217176799,"scene_id":"lab_003","finished_at":"2026-09-04T11:56:15"}
+{"episode_id":"ep_000094","started_at":"2026-09-04T11:56:18","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.4738607233525554,0.8469161685148516,0.71338606911949],"aabb_xy":[[-0.4819743780259325,0.8388103520608224],[-0.4657470686791783,0.8550219849688806]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[0.2728059276426408,-1.3424257287328623,0.71338606911949],"aabb_xy":[[0.21780592846605124,-1.3974154035078197],[0.3278059268192302,-1.2874360539579044]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[0.190715382547597,-0.9897900476507382,0.71338606911949],"aabb_xy":[[0.10071538282442284,-1.012863400185918],[0.2807153822707712,-0.9667166951155584]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.33445064216549264,0.14923624200399788,0.71338606911949],"aabb_xy":[[-0.347077429452689,0.13969016830242498],[-0.3218238548782963,0.15878231570557078]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[-0.11817728395007143,-0.40287439366587563,0.71338606911949],"aabb_xy":[[-0.12260791330491162,-0.4083227654005583],[-0.11374665459523127,-0.3974260219311931]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.525382685571814,-1.202632285465698,0.71338606911949],"aabb_xy":[[-0.5903826834534618,-1.253755949172239],[-0.4603826876901662,-1.1515086217591572]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[0.34424169801477555,-2.530203947292853,0.71338606911949],"aabb_xy":[[0.28024169763724194,-2.579949214143665],[0.40824169839230917,-2.4804586804420405]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.6187611375048421,1.077587557132282,0.71338606911949],"aabb_xy":[[-0.6555557706297482,1.0406816820356997],[-0.5819665043799357,1.1144934322288642]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[0.5844998266862305,-1.8808401142465447,0.71338606911949],"aabb_xy":[[0.5674897293961797,-1.8969746027448187],[0.601509923976281,-1.8647056257482708]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.1216886712934746,1.8051808803642095,0.71338606911949],"aabb_xy":[[-0.144188671107377,1.8007062639937288],[-0.09918867147957222,1.8096554967346903]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[-0.5601555068078469,0.02176391663718036,0.71338606911949],"aabb_xy":[[-0.5699114963170208,0.012001382577945918],[-0.550399517298673,0.0315264506964148]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[-0.5600417383880149,-2.0409089390216124,0.71338606911949],"aabb_xy":[[-0.5775417386330641,-2.058408726861179],[-0.5425417381429654,-2.023409151182045]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.6005116132058557,-0.6764827510891922,0.71338606911949],"aabb_xy":[[-0.6555048245429923,-0.7314827514279858],[-0.5455184018687188,-0.6214827507503986]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.35948530073763396,1.3610509299301232,0.71338606911949],"aabb_xy":[[0.31420668585648476,1.2970509305819393],[0.4047639156187833,1.4250509292783067]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.474235148692995,-2.391493993459669,0.71338606911949],"aabb_xy":[[-0.5542351497661153,-2.4012720397970533],[-0.39423514761987466,-2.3817159471222844]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[0.5606656729210207,1.2195279155883596,0.71338606911949],"aabb_xy":[[0.5178989660416005,1.1555279121665574],[0.6034323798004408,1.2835279190101623]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[0.5790016834658709,-0.2828924058266207,0.71338606911949],"aabb_xy":[[0.5615016843315036,-0.29277203286420844],[0.596501682600238,-0.2730127787890328]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[-0.5271935587013074,-1.8115355201314711,0.71338606911949],"aabb_xy":[[-0.6071935556643464,-1.8886111617752441],[-0.4471935617382681,-1.7344598784876972]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[-0.252218091771105,-1.1700189592214263,0.71338606911949],"aabb_xy":[[-0.2682800192296226,-1.2550189610340179],[-0.23615616431258732,-1.0850189574088343]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[-0.08445381867645008,-1.5877590797701107,0.71338606911949],"aabb_xy":[[-0.12195382019208179,-1.5989858527862557],[-0.04695381716081837,-1.5765323067539656]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.34377566631927375,-2.227247748917062,0.71338606911949],"aabb_xy":[[-0.38127566613630726,-2.2318859602282037],[-0.30627566650224014,-2.22260953760592]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.6196644395087274,-0.403227492786125,0.71338606911949],"aabb_xy":[[0.5891801893816973,-0.453227492567621],[0.6501486896357576,-0.35322749300462913]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[0.6587606742252925,-0.6259743366208124,0.71338606911949],"aabb_xy":[[0.6510574835512154,-0.6336837073195503],[0.6664638648993694,-0.6182649659220742]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[0.07123466427337177,-2.317795233512386,0.71338606911949],"aabb_xy":[[0.033734663981196955,-2.32183670891299],[0.10873466456554659,-2.3137537581117824]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.4484880175568897,-1.584758685024707,0.71338606911949],"aabb_xy":[[0.43968596224791695,-1.592570011179636],[0.4572900728658624,-1.5769473588697778]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[-0.6789671798149092,-2.485532160738432,0.71338606911949],"aabb_xy":[[-0.6829276635846435,-2.4932000253239526],[-0.6750066960451748,-2.4778642961529114]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[-0.6574192705898503,-2.3337725665214455,0.71338606911949],"aabb_xy":[[-0.6615551269225505,-2.3712725659658025],[-0.6532834142571501,-2.2962725670770885]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6587331422493118,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6211.png","name":"6211"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6211.png","name":"6211"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5223.png","name":"5223"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5354.png","name":"5354"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6019.png","name":"6019"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9598.png","name":"9598"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":701.511968351253,"rotation_z_degrees":351.45368559876266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0020168070239929975,0.006877929258966204,0.014046437418546661]},{"name":"camera_2","offset_m":[0.0018597063334483827,0.010944228265147005,-0.006342014303488774]},{"name":"camera_3","offset_m":[0.0058634876997864585,-0.018038420198633897,-0.008399714867884982]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00020394845642206336,0.0004269733231330522,-0.0008291929921335841],"end_effector_yaw_offset_degrees":0.16757371244165942},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00060868543448473,0.0019491616960376082,0.0004988708047632393],"end_effector_yaw_offset_degrees":-0.17585877978834574},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00047194297229901164,-0.0019113517561542728,0.00044675194819942003],"end_effector_yaw_offset_degrees":-0.9831931333740187}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007650857760331678,-0.004921998570390766],"position_m":[0.2165349142239668,-0.025221998570390765,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001763083324137051,-0.002391800125719993],"position_m":[0.2140236916675863,-0.38139180012572,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024852424493012034,0.002695597635272943],"position_m":[0.2126852424493012,0.2982955976352729,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032540187130419597,0.003116750203292517],"position_m":[0.348545981286958,0.1350167502032925,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b8778f9af4486c9859222b04bcd0f46461f31e83b0f80c577569f2a5f5e36264","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6211/tex_ceiling_textures_9598/tex_floor_textures_6019/tex_table_textures_5223/tex_wall_textures_5354","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":7430552583257742929,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":7430552583257742929,"visual_seed":7430552583257742929,"scene_id":"lab_003","finished_at":"2026-09-04T11:59:07"}
+{"episode_id":"ep_000095","started_at":"2026-09-04T11:59:11","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.5480452303653736,-0.19335644830242327,0.71338606911949],"aabb_xy":[[-0.6120452310688429,-0.23937483077534433],[-0.4840452296619042,-0.1473380658295023]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[-0.5430190322679296,-0.922882830397803,0.71338606911949],"aabb_xy":[[-0.5601211102262977,-0.9399896359290728],[-0.5259169543095614,-0.9057760248665333]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[-0.4796054500334981,1.2175382342089547,0.71338606911949],"aabb_xy":[[-0.5021054502770135,1.2053335995491827],[-0.4571054497899827,1.2297428688687266]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.22762897411027605,1.6040087622185646,0.71338606911949],"aabb_xy":[[0.17762897282643605,1.5540299078279423],[0.27762897539411596,1.6539876166091865]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.10541050421673548,-2.0656459431409835,0.71338606911949],"aabb_xy":[[0.08041050466499698,-2.075788427006118],[0.13041050376847396,-2.0555034592758488]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[-0.15768540746455673,0.7523311456956883,0.71338606911949],"aabb_xy":[[-0.16731704368498634,0.7426938329159795],[-0.1480537712441271,0.7619684584753973]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[-0.46726701166033946,-0.7163039196451866,0.71338606911949],"aabb_xy":[[-0.500707186856359,-0.7497475454761164],[-0.4338268364643198,-0.6828602938142563]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[0.4861688903426338,-1.8833953133607109,0.71338606911949],"aabb_xy":[[0.47700901139875723,-1.889926531404248],[0.49532876928651043,-1.8768640953171738]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[-0.4338311052236155,-1.098419392644514,0.71338606911949],"aabb_xy":[[-0.4588311044955778,-1.1147647562406762],[-0.40883110595165323,-1.0820740290483515]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.32327643352322405,0.42130495622830955,0.71338606911949],"aabb_xy":[[-0.33791983907725703,0.4066462365715252],[-0.30863302796919106,0.43596367588509377]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.656815813682774,1.2561504638091887,0.71338606911949],"aabb_xy":[[0.599185344795503,1.196150464882478],[0.7144462825700447,1.316150462735899]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[0.5266801450894489,-1.6610698261139936,0.71338606911949],"aabb_xy":[[0.4366801453662747,-1.684143178649173],[0.616680144812623,-1.6379964735788133]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.20630865711642982,0.8984362563344486,0.71338606911949],"aabb_xy":[[-0.22410216405134625,0.8806365107386508],[-0.18851515018151338,0.9162360019302461]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[0.6109868978371296,-0.5260848103978537,0.71338606911949],"aabb_xy":[[0.5309868992498101,-0.6054004123360145],[0.690986896424449,-0.44676920845969276]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.5853154145024987,-1.9286665169319477,0.71338606911949],"aabb_xy":[[-0.6028153479364821,-1.9461665168521822],[-0.5678154810685153,-1.9111665170117131]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.6003729321375593,0.8271148990916273,0.71338606911949],"aabb_xy":[[0.5363729307295685,0.7753259475677025],[0.6643729335455498,0.8789038506155519]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[0.5148399694201733,0.06158840621223627,0.71338606911949],"aabb_xy":[[0.47733996960313974,0.0569501949010944],[0.5523399692372069,0.06622661752337813]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[0.6768707904569491,0.3880420580808228,0.71338606911949],"aabb_xy":[[0.6422797076029038,0.32304205779579165],[0.7114618733109942,0.45304205836585376]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.38021815133260645,-2.1107165386808777,0.71338606911949],"aabb_xy":[[-0.42240256549343724,-2.1747165389580885],[-0.33803373717177576,-2.046716538403666]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.12377860831356613,-0.6530417375648037,0.71338606911949],"aabb_xy":[[0.10944418318740268,-0.6651019531193425],[0.13811303343972958,-0.6409815220102648]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[-0.36175190475154756,1.15084089535153,0.71338606911949],"aabb_xy":[[-0.36659549951277753,1.1459892428725458],[-0.3569083099903176,1.155692547830514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6562442022038306,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7864.png","name":"7864"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7864.png","name":"7864"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4351.png","name":"4351"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3103.png","name":"3103"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5641.png","name":"5641"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":725.35030633776,"rotation_z_degrees":186.0464624831939,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003813629733939637,-0.00010089765418995131,0.005587142508205942]},{"name":"camera_2","offset_m":[-0.00539491394352571,0.007962788037250666,-0.01908498923919612]},{"name":"camera_3","offset_m":[-0.01487151122761697,0.009415648811641173,-0.005872527133736387]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018597748396036009,-0.0011093881450682836,-0.000668206640832893],"end_effector_yaw_offset_degrees":0.585894785608633},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017870826002324178,0.001680849489783325,-0.0013296801376224809],"end_effector_yaw_offset_degrees":0.41552808207850656},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001775050040997833,0.0004953239445613625,-0.00017444954263279517],"end_effector_yaw_offset_degrees":-0.07416649002028253}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031721783367132717,0.004530670052452388],"position_m":[0.21412782166328673,-0.015769329947547612,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014564768198982404,0.00010643670326736417],"position_m":[0.21274352318010176,-0.3788935632967326,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004987995087664238,-0.0019927769393180096],"position_m":[0.21518799508766423,0.293607223060682,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003925709061987961,0.0005871042245093501],"position_m":[0.34787429093801203,0.13248710422450935,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"edfef779771a96f881573f0c856d9e7ca4e270e154aa17e8515340561034a627","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7864/tex_ceiling_textures_9281/tex_floor_textures_5641/tex_table_textures_4351/tex_wall_textures_3103","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":5378153922861354213,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":5378153922861354213,"visual_seed":5378153922861354213,"scene_id":"lab_003","finished_at":"2026-09-04T12:02:05"}
+{"episode_id":"ep_000096","started_at":"2026-09-04T12:02:09","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[0.12327326006524897,-1.2458356267357982,0.71338606911949],"aabb_xy":[[0.089497700874556,-1.2598741219489633],[0.15704881925594194,-1.231797131522633]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.4593133974505479,-2.3958641532474605,0.71338606911949],"aabb_xy":[[0.44684603934081224,-2.4083294778807844],[0.47178075556028354,-2.3833988286141374]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[0.5192793297513583,-2.279506991029618,0.71338606911949],"aabb_xy":[[0.44927932635979634,-2.3148227647330484],[0.5892793331429202,-2.2441912173261866]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.6123078648233521,-1.1841648852468634,0.71338606911949],"aabb_xy":[[-0.6550745717027723,-1.2481648886686658],[-0.5695411579439319,-1.120164881825061]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[0.41389214080687986,0.7499013289925656,0.71338606911949],"aabb_xy":[[0.3987898393458617,0.7347998073615035],[0.4289944422678979,0.7650028506236272]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[0.11033964956873465,-1.5014232587096543,0.71338606911949],"aabb_xy":[[0.10271538147855643,-1.5090564822461983],[0.11796391765891291,-1.4937900351731106]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_6","position":[-0.5186161513236645,-2.472663837551762,0.71338606911949],"aabb_xy":[[-0.6086161499181344,-2.4889144238651837],[-0.4286161527291945,-2.456413251238341]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[0.027790006974574455,1.4765194822369172,0.71338606911949],"aabb_xy":[[0.02074969704103746,1.396519482837246],[0.03483031690811145,1.556519481636589]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[-0.48546774014933064,0.9110040243973665,0.71338606911949],"aabb_xy":[[-0.5754677438262487,0.8495716178202619],[-0.39546773647241235,0.9724364309744706]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.16261169284310517,1.0144024829895213,0.71338606911949],"aabb_xy":[[0.13476665606249805,0.9836179842512096],[0.1904567296237123,1.045186981727833]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[0.003073274619421862,-2.1614400914629917,0.71338606911949],"aabb_xy":[[-0.07692672278417155,-2.241432662661174],[0.08307327202301527,-2.0814475202648084]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[-0.6199818712581205,-2.1428699802249804,0.71338606911949],"aabb_xy":[[-0.6574818714299924,-2.1755707156078876],[-0.5824818710862485,-2.1101692448420732]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[0.3788357633259416,-0.4180666347277069,0.71338606911949],"aabb_xy":[[0.3488441005920712,-0.44806663406450736],[0.40882742605981187,-0.3880666353909063]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[0.5985782602662288,0.7328459720415292,0.71338606911949],"aabb_xy":[[0.5892312526839336,0.7185423498238852],[0.6079252678485241,0.7471495942591733]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.6374670582172535,-2.13324775230804,0.71338606911949],"aabb_xy":[[0.5774670565743316,-2.185247901599985],[0.6974670598601753,-2.0812476030160965]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[-0.18855551758964129,0.8547357911795901,0.71338606911949],"aabb_xy":[[-0.19579928363588664,0.7747357929759877],[-0.181311751543396,0.9347357893831925]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_16","position":[-0.3011250273140275,1.2762587959521294,0.71338606911949],"aabb_xy":[[-0.3099062544612638,1.2674790486635994],[-0.29234380016679135,1.28503854324066]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[0.42804669008362795,-0.6915990595299353,0.71338606911949],"aabb_xy":[[0.39054668958626965,-0.6955677430780536],[0.46554669058098613,-0.6876303759818168]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.28216273839339323,0.7145309239327617,0.71338606911949],"aabb_xy":[[0.218162739099225,0.6505447835639074],[0.34616273768756145,0.7785170643016158]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.07680178269755411,-1.3637353122122404,0.71338606911949],"aabb_xy":[[-0.11430178264132052,-1.3720284022470768],[-0.039301782753787706,-1.3554422221774036]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[0.01346869282093699,-2.404321256667606,0.71338606911949],"aabb_xy":[[-0.021531305489758457,-2.412036271591152],[0.048468691131632435,-2.3966062417440606]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.2386158367643535,-1.3248290723966367,0.71338606911949],"aabb_xy":[[0.22344366748272018,-1.33999792932484],[0.25378800604598684,-1.3096602154684334]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_22","position":[-0.262291561152716,-2.1072010226682685,0.71338606911949],"aabb_xy":[[-0.31227451134019535,-2.1572010223108284],[-0.2123086109652367,-2.0572010230257076]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[0.255739922878624,1.474158208468594,0.71338606911949],"aabb_xy":[[0.19573992201781112,1.4227317784621074],[0.3157399237394367,1.5255846384750802]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[0.6331734295526434,-0.4940738351554166,0.71338606911949],"aabb_xy":[[0.5431734301342724,-0.5274493319996063],[0.7231734289710142,-0.4606983383112268]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.367508667919277,-1.6019001802929886,0.71338606911949],"aabb_xy":[[-0.4275086685152932,-1.656712652838212],[-0.3075086673232608,-1.547087707747765]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_26","position":[-0.07606152836162527,-1.6053263143426273,0.71338606911949],"aabb_xy":[[-0.100607743984376,-1.6355752108916641],[-0.05151531273887456,-1.57507741779359]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[0.36016348909392604,1.727999926657716,0.71338606911949],"aabb_xy":[[0.3226634875782943,1.716773153641571],[0.3976634906095577,1.739226699673861]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_28","position":[0.6446208867719418,-0.23030386197795671,0.71338606911949],"aabb_xy":[[0.6096208875791235,-0.24127090797561931],[0.67962088596476,-0.21933681598029406]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_29","position":[0.6165562837161018,-1.21668945517887,0.71338606911949],"aabb_xy":[[0.5465562873061398,-1.2371273908305513],[0.6865562801260634,-1.196251519527188]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663193151082184,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9113.png","name":"9113"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9113.png","name":"9113"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8130.png","name":"8130"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8517.png","name":"8517"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8914.png","name":"8914"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8772.png","name":"8772"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":579.1323575982176,"rotation_z_degrees":282.2181729106173,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009905022349281993,-0.011280317297376037,0.014102928245467067]},{"name":"camera_2","offset_m":[0.003856955607776543,0.0020428097769283234,0.005157717269051499]},{"name":"camera_3","offset_m":[0.015622848450246408,0.019112672706609168,-0.014693028209321751]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015227083552833034,-0.0009664452689884713,-0.0010166935458298069],"end_effector_yaw_offset_degrees":0.18098344497171825},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006588638114239163,0.0008686325637560755,-0.001494449883155744],"end_effector_yaw_offset_degrees":0.23193790452325924},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014750624988439484,-0.0003176968882976454,0.00013884028293659678],"end_effector_yaw_offset_degrees":0.33818230776837477}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037568073692121973,0.00028101809633515867],"position_m":[0.22105680736921218,-0.02001898190366484,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004964918647153898,-0.0028461530523621425],"position_m":[0.2191649186471539,-0.38184615305236214,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018683614738496824,0.0011260041996899693],"position_m":[0.2120683614738497,0.2967260041996899,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002295446202720375,-0.004934327657357758],"position_m":[0.3540954462027204,0.12696567234264222,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cb650db97224aeddc2ae9ccc12f5d245d8d9349bb5e1a4769bd80a2a159f6206","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9113/tex_ceiling_textures_8772/tex_floor_textures_8914/tex_table_textures_8130/tex_wall_textures_8517","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":2057037147018698408,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":2057037147018698408,"visual_seed":2057037147018698408,"scene_id":"lab_003","finished_at":"2026-09-04T12:05:07"}
+{"episode_id":"ep_000097","started_at":"2026-09-04T12:05:12","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[-0.6414595001845167,0.4625813907581535,0.71338606911949],"aabb_xy":[[-0.6912762796493515,0.4125813922738502],[-0.5916427207196819,0.5125813892424569]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.6350590053482051,-1.1903879639386241,0.71338606911949],"aabb_xy":[[-0.6850538382761469,-1.2403879628338677],[-0.5850641724202637,-1.1403879650433806]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[0.6570036258955083,1.7685483081690578,0.71338606911949],"aabb_xy":[[0.6400928934591664,1.755076102576443],[0.67391435833185,1.7820205137616723]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[-0.1177415692971947,1.4634777457419994,0.71338606911949],"aabb_xy":[[-0.18774157110594014,1.4421239769778122],[-0.047741567488449266,1.484831514506187]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[0.6528221142660116,-0.05171824825458238,0.71338606911949],"aabb_xy":[[0.6381787087119786,-0.06637696791136666],[0.6674655198200445,-0.03705952859779809]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.616580758992628,-1.688825441596397,0.71338606911949],"aabb_xy":[[0.5755628156062571,-1.7388254422273544],[0.6575987023789989,-1.6388254409654397]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[-0.363523769479325,-1.6827962258448803,0.71338606911949],"aabb_xy":[[-0.37122696015340206,-1.6905055965436184],[-0.355820578805248,-1.6750868551461422]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[0.4028442829233376,0.5432006876397142,0.71338606911949],"aabb_xy":[[0.3803478614894735,0.5207006878329666],[0.4253407043572017,0.5657006874464615]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[0.29570555956683886,1.639897102838812,0.71338606911949],"aabb_xy":[[0.2907495393819577,1.6173971026366905],[0.30066157975172003,1.6623971030409337]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[-0.2119676349520978,-0.47448949639352156,0.71338606911949],"aabb_xy":[[-0.22076969026107052,-0.4823008225484506],[-0.2031655796431251,-0.4666781702385924]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[-0.40944131823298036,0.4353074064452245,0.71338606911949],"aabb_xy":[[-0.42267226376766154,0.42207998742322494],[-0.39621037269829895,0.4485348254672238]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.48164680272595173,-1.7223441805591226,0.71338606911949],"aabb_xy":[[-0.5186809121540115,-1.756721387892832],[-0.44461269329789194,-1.6879669732254132]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[0.11740406547036053,-1.7439864499372686,0.71338606911949],"aabb_xy":[[0.09985737055424161,-1.78148645150152],[0.13495076038647946,-1.7064864483730176]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.41731925954030535,1.5935410840451456,0.71338606911949],"aabb_xy":[[-0.42888824028724193,1.5685410839282141],[-0.4057502787933688,1.6185410841620775]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[0.25997466238959643,-0.5401511734487618,0.71338606911949],"aabb_xy":[[0.2224746618922382,-0.5441198569968803],[0.2974746628869547,-0.5361824899006434]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.5359513832397391,-0.9835617235694625,0.71338606911949],"aabb_xy":[[-0.5534513823741062,-0.9934413506070501],[-0.5184513841053718,-0.9736820965318744]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[0.648861867701779,0.9068219390837715,0.71338606911949],"aabb_xy":[[0.6380102614529035,0.8959626483561205],[0.6597134739506547,0.9176812298114225]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.5978339852066572,-0.04214721531701171,0.71338606911949],"aabb_xy":[[-0.6017944689763916,-0.04981507990253231],[-0.5938735014369229,-0.03447935073149111]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.31399445364233974,-0.06202831665549002,0.71338606911949],"aabb_xy":[[-0.3514944539905675,-0.07381971223657358],[-0.276494453294112,-0.050236921074406464]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.5007895167981253,1.4752986656157536,0.71338606911949],"aabb_xy":[[-0.5507683253084411,1.4252986656100346],[-0.45081070828780934,1.5252986656214722]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[-0.08112785802509948,0.6418837883373167,0.71338606911949],"aabb_xy":[[-0.13625306365469023,0.5818837868960295],[-0.026002652395508693,0.7018837897786038]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.41146620202395856,0.9592822466818904,0.71338606911949],"aabb_xy":[[0.4006932281025908,0.9242822484628515],[0.42223917594532634,0.9942822449009294]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.28995256012871407,-2.2968326340768686,0.71338606911949],"aabb_xy":[[-0.2955342317628428,-2.3093326338946434],[-0.2843708884945853,-2.284332634259093]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.6403665640027302,0.9412335652027117,0.71338606911949],"aabb_xy":[[-0.6592509477712404,0.922347640422359],[-0.62148218023422,0.9601194899830645]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[-0.32123410008882664,-0.3348687321492352,0.71338606911949],"aabb_xy":[[-0.36731919134355806,-0.3988687294017903],[-0.2751490088340951,-0.27086873489668006]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_25","position":[-0.44273942027107993,0.12941571854666156,0.71338606911949],"aabb_xy":[[-0.47621858753212093,0.09593660517555458],[-0.40926025301003904,0.1628948319177686]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[0.36735272108674133,-0.4156135237779317,0.71338606911949],"aabb_xy":[[0.3421318842269016,-0.44083727463081845],[0.39257355794658094,-0.39038977292504495]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_27","position":[0.4222490658146505,-1.336666285515196,0.71338606911949],"aabb_xy":[[0.33224906609147625,-1.3597396380503757],[0.5122490655378246,-1.313592932980016]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_28","position":[-0.13295073072176378,-0.6949614417282706,0.71338606911949],"aabb_xy":[[-0.13779432548299375,-0.6998130942072547],[-0.1281071359605338,-0.6901097892492865]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[-0.19517237582761765,0.9580106731304072,0.71338606911949],"aabb_xy":[[-0.25917237225493955,0.9108410493083109],[-0.13117237940029575,1.0051802969525037]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_30","position":[0.3505231009775469,-1.2101095006192595,0.71338606911949],"aabb_xy":[[0.2865231006000133,-1.2598547674700715],[0.4145231013550805,-1.160364233768447]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_31","position":[-0.6020635152477384,-1.386786471490481,0.71338606911949],"aabb_xy":[[-0.6870635136651616,-1.4716607669527662],[-0.5170635168303152,-1.3019121760281962]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_32","position":[-0.06107374651556108,0.26629844547043824,0.71338606911949],"aabb_xy":[[-0.09607374564551674,0.26055322439477413],[-0.02607374738560541,0.27204366654610235]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_33","position":[-0.4311246605767414,1.7469252926881471,0.71338606911949],"aabb_xy":[[-0.4635863614586689,1.7167924605732439],[-0.39866295969481397,1.777058124803049]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6596876819056451,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4425.png","name":"4425"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4425.png","name":"4425"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2458.png","name":"2458"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/233.png","name":"233"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1615.png","name":"1615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2524.png","name":"2524"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":707.5731202064859,"rotation_z_degrees":329.5668053746987,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016060443072008004,0.0049466126194993056,0.005768925653763156]},{"name":"camera_2","offset_m":[-0.005213760815239624,0.007874892359110822,0.01053576252291005]},{"name":"camera_3","offset_m":[-0.0122559043441656,-0.011217359280091288,-0.01697321868527503]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012849314110044458,-0.0006717408170858162,0.0014852261367094399],"end_effector_yaw_offset_degrees":0.8243812478707968},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012536076207265356,-0.0003182538885819887,-0.00044864707872900307],"end_effector_yaw_offset_degrees":-0.7155407663498954},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014886719174387196,-0.0007438719367236701,0.0008034052762410804],"end_effector_yaw_offset_degrees":0.03964994735852345}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0040826435935203,-0.004572054531778351],"position_m":[0.2213826435935203,-0.024872054531778348,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004152699279087817,0.0021055814714734675],"position_m":[0.21835269927908782,-0.3768944185285265,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033615292368593653,-0.0023303330367693666],"position_m":[0.20683847076314063,0.2932696669632306,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006415815766333873,0.0006320599206697834],"position_m":[0.3524415815766334,0.13253205992066977,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b7de34f3c0a4ae9ea14e64ff8769a6481d84865a9a1eb14d71ec364c736bf492","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4425/tex_ceiling_textures_2524/tex_floor_textures_1615/tex_table_textures_2458/tex_wall_textures_233","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":4584711927342123198,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":4584711927342123198,"visual_seed":4584711927342123198,"scene_id":"lab_003","finished_at":"2026-09-04T12:08:08"}
+{"episode_id":"ep_000098","started_at":"2026-09-04T12:08:12","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.13912319729551392,1.6025071333304015,0.71338606911949],"aabb_xy":[[-0.14616464824626152,1.5954803815926073],[-0.13208174634476633,1.6095338850681962]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.41876629320677866,0.9122220300054416,0.71338606911949],"aabb_xy":[[-0.4887662965983406,0.8769062563020107],[-0.3487662898152166,0.9475378037088724]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.46687841275905595,1.740214971816799,0.71338606911949],"aabb_xy":[[0.4168784113981687,1.6902370672413836],[0.5168784141199432,1.7901928763922148]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.0005128634967759282,-2.4828371761617567,0.71338606911949],"aabb_xy":[[-0.06448713746035127,-2.5347853880954623],[0.06551286445390313,-2.430888964228051]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[0.6759622423405325,1.701385269337647,0.71338606911949],"aabb_xy":[[0.6400487379155428,1.665471761120892],[0.7118757467655221,1.737298777554401]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.38035510814338847,-2.3674582122657295,0.71338606911949],"aabb_xy":[[0.3465795489526955,-2.3814967074788944],[0.41413066733408144,-2.3534197170525646]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.16959639449745412,-2.263923716628283,0.71338606911949],"aabb_xy":[[0.11558079821555409,-2.3279237195205402],[0.2236119907793541,-2.199923713736026]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.03203032114130411,-1.6289900934642252,0.71338606911949],"aabb_xy":[[-0.05657653676405483,-1.6592389900132622],[-0.007484105518553392,-1.5987411969151881]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.5173603247959935,-2.2521583706585013,0.71338606911949],"aabb_xy":[[-0.5523603230661134,-2.2592324983534895],[-0.4823603265258736,-2.245084242963513]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.5823158814004377,0.2730040821011408,0.71338606911949],"aabb_xy":[[0.578199931288365,0.26888852706829525],[0.5864318315125103,0.27711963713398624]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.037641626019403684,-1.5030165747592272,0.71338606911949],"aabb_xy":[[-0.046935244256554265,-1.5405165732473611],[-0.028348007782253104,-1.4655165762710933]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[-0.23224808892534116,-1.0434035755690023,0.71338606911949],"aabb_xy":[[-0.24967880400434767,-1.060675690232853],[-0.21481737384633465,-1.0261314609051513]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.10330731091882517,-2.144817941734097,0.71338606911949],"aabb_xy":[[-0.19330731033719606,-2.178193438578287],[-0.013307311500454264,-2.1114424448899074]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[0.30114672037204737,0.42813066234915675,0.71338606911949],"aabb_xy":[[0.287700193738004,0.41466081069606553],[0.31459324700609065,0.441600514002248]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[-0.3719003126626357,1.0518925079023367,0.71338606911949],"aabb_xy":[[-0.4268935239997725,0.9968925075635431],[-0.31690710132549893,1.1068925082411303]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[0.47791125809673685,-1.047415961799216,0.71338606911949],"aabb_xy":[[0.3979112601159518,-1.0550175027610678],[0.5579112560775219,-1.0398144208373639]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[-0.3873901047990936,-0.464889023692971,0.71338606911949],"aabb_xy":[[-0.3991582915937512,-0.5498890235981927],[-0.3756219180044362,-0.3798890237877496]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.6698282135316191,-2.2381888413276982,0.71338606911949],"aabb_xy":[[0.6638616745908834,-2.2441499859870624],[0.6757947524723549,-2.232227696668334]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.3973315926492888,0.19553887291053673,0.71338606911949],"aabb_xy":[[-0.4273232553831591,0.16553887357373617],[-0.3673399299154184,0.22553887224733724]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[-0.2818063823714114,-0.11444508897012273,0.71338606911949],"aabb_xy":[[-0.34580638264538965,-0.1645111891674107],[-0.2178063820974332,-0.06437898877283477]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[0.694317748181664,-1.4240555293213892,0.71338606911949],"aabb_xy":[[0.6714020352966142,-1.446959826457813],[0.717233461066714,-1.401151232184966]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[0.12382745022060693,-0.9377361748486366,0.71338606911949],"aabb_xy":[[0.058827447582813455,-0.9892157735480835],[0.1888274528584004,-0.8862565761491896]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[-0.3334557888175956,0.7041950836830857,0.71338606911949],"aabb_xy":[[-0.3509557879519627,0.6943154566454978],[-0.31595578968322835,0.7140747107206734]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[0.23497043661915185,0.6652518875113129,0.71338606911949],"aabb_xy":[[0.22303770225732378,0.6528697347034534],[0.2469031709809799,0.6776340403191722]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[-0.6228664614184547,-1.247270924860205,0.71338606911949],"aabb_xy":[[-0.6844572206424476,-1.311270922969252],[-0.561275702194462,-1.1832709267511583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6532162041012702,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5000.png","name":"5000"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5000.png","name":"5000"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/255.png","name":"255"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3316.png","name":"3316"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/560.png","name":"560"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3725.png","name":"3725"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":653.3631406015537,"rotation_z_degrees":313.3851845351014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004342800287265049,0.01980072346428288,0.0008210462595151444]},{"name":"camera_2","offset_m":[-0.009176094023201244,0.0007882011701604436,0.009163033581174873]},{"name":"camera_3","offset_m":[0.010310063521149368,0.0038891209650711994,-0.0019625012219661106]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012294040363027819,0.00017100151036203654,0.0005757969301344967],"end_effector_yaw_offset_degrees":0.4813119257412559},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-7.135554860181865e-05,-0.0012715951721111928,-0.0019315784969478069],"end_effector_yaw_offset_degrees":0.13243189949359513},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00012224967347808043,0.00038318865402877864,-0.000683057576470158],"end_effector_yaw_offset_degrees":0.583324626554327}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004393913630558718,0.0025193812243650736],"position_m":[0.2216939136305587,-0.017780618775634926,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019239834495409316,0.004705824819525973],"position_m":[0.21227601655045908,-0.37429417518047403,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013076621326242,0.0040173945668011924],"position_m":[0.2088923378673758,0.29961739456680114,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002262875360476334,-0.0004465378674016725],"position_m":[0.3540628753604763,0.13145346213259831,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c46f74d64ddf0cbab1a8956c03a1f2f665310d49e3656759e6e7ce0b636d1dbe","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5000/tex_ceiling_textures_3725/tex_floor_textures_560/tex_table_textures_255/tex_wall_textures_3316","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":4373890955989994193,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":4373890955989994193,"visual_seed":4373890955989994193,"scene_id":"lab_003","finished_at":"2026-09-04T12:11:04"}
+{"episode_id":"ep_000099","started_at":"2026-09-04T12:11:07","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.4172315736629916,-1.1992554581715746,0.71338606911949],"aabb_xy":[[-0.43712261354333193,-1.2119112694562717],[-0.39734053378265144,-1.186599646886878]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.1577753094082751,1.6215640600722767,0.71338606911949],"aabb_xy":[[-0.2217753096687459,1.5765552607193485],[-0.09377530914780428,1.6665728594252045]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.1412263772171195,1.5316575285370209,0.71338606911949],"aabb_xy":[[0.1371104271050468,1.527541973504175],[0.14534232732919214,1.5357730835698662]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[-0.5956830274233625,-1.8218092839467754,0.71338606911949],"aabb_xy":[[-0.6856830241589726,-1.8749927472640697],[-0.5056830306877522,-1.7686258206294807]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[-0.3193263824872115,0.5753352666213138,0.71338606911949],"aabb_xy":[[-0.3543263807573314,0.5682611389263256],[-0.2843263842170916,0.5824093943163019]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.3881019681896522,1.2430010709062196,0.71338606911949],"aabb_xy":[[-0.39538428456631575,1.1530010672967101],[-0.38081965181298844,1.3330010745157281]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.22922057034172916,0.8751372222796188,0.71338606911949],"aabb_xy":[[0.22426455015684799,0.8526372220774973],[0.23417659052661038,0.8976372224817405]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[-0.4340611172059649,-2.329069681402215,0.71338606911949],"aabb_xy":[[-0.45434541992936367,-2.3493523065449238],[-0.41377681448256615,-2.3087870562595056]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.5985922042552052,-0.016427604468072232,0.71338606911949],"aabb_xy":[[0.5335922056981323,-0.04618013788195485],[0.6635922028122779,0.013324928945810388]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[-0.44004404908988576,-0.9985606193530736,0.71338606911949],"aabb_xy":[[-0.4638802667304909,-1.08856062016156],[-0.41620783144928075,-0.9085606185445871]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[0.6155136160112396,-1.05435011752217,0.71338606911949],"aabb_xy":[[0.5902927791513997,-1.0795738683750562],[0.640734452871079,-1.0291263666692827]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[-0.032323948658842805,0.6351690710191313,0.71338606911949],"aabb_xy":[[-0.04547519463013217,0.6101690712624448],[-0.019172702687553448,0.6601690707758179]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.26998167186911,0.1433008828797111,0.71338606911949],"aabb_xy":[[-0.2870837498274781,0.12619407734844135],[-0.2528795939107418,0.16040768841098085]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[-0.3239856293062992,0.7952944581263481,0.71338606911949],"aabb_xy":[[-0.33197961788400254,0.7872943780312577],[-0.31599164072859576,0.8032945382214384]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[0.6411369235261464,1.7877464832967678,0.71338606911949],"aabb_xy":[[0.6061369243333279,1.7767794372991048],[0.6761369227189644,1.7987135292944298]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[-0.0390121120195549,-1.9004555774352303,0.71338606911949],"aabb_xy":[[-0.08901211330339487,-1.9504344318258522],[0.010987889264285058,-1.850476723044608]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.5261448158211605,0.2429649585540048,0.71338606911949],"aabb_xy":[[-0.5326464523291652,0.23319713652769503],[-0.519643179313156,0.25273278058031456]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.5411992133870249,-0.7271359750968112,0.71338606911949],"aabb_xy":[[-0.5524442689576426,-0.7383777728209066],[-0.529954157816407,-0.715894177372716]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[-0.22282142778060499,-0.18310832513141584,0.71338606911949],"aabb_xy":[[-0.2417058115491152,-0.2019942499117686],[-0.20393704401209478,-0.16422240035106303]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[-0.31090591539978607,1.5153698264974467,0.71338606911949],"aabb_xy":[[-0.33875095218039325,1.484585327759135],[-0.283060878619179,1.5461543252357584]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.40956713191857097,0.44204998050583244,0.71338606911949],"aabb_xy":[[0.39401136250830576,0.4264995472614253],[0.4251229013288363,0.4576004137502397]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[-0.4973733410216264,-1.3257091834421946,0.71338606911949],"aabb_xy":[[-0.5673733374315879,-1.3461471190938759],[-0.4273733446116645,-1.3052712477905124]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6535063143943456,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5242.png","name":"5242"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5242.png","name":"5242"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5467.png","name":"5467"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1212.png","name":"1212"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4992.png","name":"4992"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9773.png","name":"9773"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":825.8853508953462,"rotation_z_degrees":56.05033352163548,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01448838957493781,0.006361443857530794,0.01401756626849494]},{"name":"camera_2","offset_m":[-0.019690404661718595,0.012233149614353993,-0.017901680839539535]},{"name":"camera_3","offset_m":[-0.0014126107133610455,0.010356861326832851,0.01480513510159814]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012831942501278749,0.000165427517026659,-0.0009770256549174704],"end_effector_yaw_offset_degrees":0.6592096886938648},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00027917415553754127,0.0014494019263424328,-0.001957956445284785],"end_effector_yaw_offset_degrees":0.7487657712168558},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00011814458199970704,0.0009632151237593104,0.0017938400697704963],"end_effector_yaw_offset_degrees":-0.2147785176471564}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00008","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[3.5534213264696093e-05,0.0009292547057045287],"position_m":[0.21733553421326468,-0.01937074529429547,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001823876594743369,0.004342789968961949],"position_m":[0.21237612340525663,-0.3746572100310381,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009487350019685937,0.0017848207476559106],"position_m":[0.2111487350019686,0.2973848207476559,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028038992316402576,0.0036845724980111893],"position_m":[0.34899610076835974,0.13558457249801117,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"da57e09a42f36c1d1fcd82943fcd285c5fd2500c5146143d8a591faef467d2ee","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5242/tex_ceiling_textures_9773/tex_floor_textures_4992/tex_table_textures_5467/tex_wall_textures_1212","seeds":{"action_seed":256126101476888679,"physical_seed":2666459563728337380,"visual_seed":9124130338745856447,"layout_id":"layout_00008","physical_randomization_enabled":true},"episode_seed":9124130338745856447,"visual_seed":9124130338745856447,"scene_id":"lab_003","finished_at":"2026-09-04T12:14:11"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..33ae0c86d577027b764ae9c147ef049dec6c2b5a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/resolved_config.yaml
@@ -0,0 +1,233 @@
+name: lab3_heat_2beaker_s03_plr_htd_00008
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Place beaker b on the heater platform.
+    Press the heater button to start heating.
+  layout_id: layout_00008
+  reproducibility:
+    enabled: true
+    layout_id: layout_00008
+    action_seed: 256126101476888679
+    step_seeds:
+    - 311217257694147886
+    - 3018262179648942721
+    - 2316423958212659800
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2102
+      - 0.2102
+      'y':
+      - 0.2956
+      - 0.2956
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2173
+      - 0.2173
+      'y':
+      - -0.0203
+      - -0.0203
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3518
+      - 0.3518
+      'y':
+      - 0.1319
+      - 0.1319
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2142
+      - 0.2142
+      'y':
+      - -0.379
+      - -0.379
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0513b2952f2478064084f93d32e0519001e34487
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_0_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2457523080349394,
+              -0.01757102906527019,
+              1.157579178949143
+            ],
+            "current_z": 1.157579178949143,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3009927311452222,
+            "gripper_z": 1.1510189602489125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24071352777883767,
+              -0.02238623493491726,
+              1.1510189602489125
+            ],
+            "object_minus_gripper": [
+              0.005038780256101716,
+              0.004815205869647069,
+              0.006560218700230491
+            ],
+            "object_to_gripper_xy": 0.006969613621741456,
+            "object_to_gripper_z": 0.006560218700230491,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2457523080349394,
+              -0.041739561822012425,
+              1.157579178949143
+            ],
+            "finger_b": [
+              0.2349362751042881,
+              -0.01757102906527019,
+              1.157579178949143
+            ],
+            "finger_midpoint": [
+              0.24034429156961373,
+              -0.02965529544364131,
+              1.157579178949143
+            ],
+            "object_minus_finger_midpoint": [
+              0.005408016465325655,
+              0.012084266378371119,
+              0.0
+            ],
+            "finger_gap": 0.026478378801781943,
+            "fingertip_max_gap": 0.09099469363161203,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013239189400890979,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.157579178949143,
+            "object_top_z": 1.2030559389849653,
+            "finger_top_clearance": 0.04547676003582235,
+            "fingertip_min_top_clearance": 0.013643028010746738,
+            "object_projection_between_fingers": 0.8331396232373736,
+            "object_to_finger_line_xy": 0.009872494390210032,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047997346815806016,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.44910267501789153,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27082464921132443,
+              -0.37738018383297256,
+              0.8470194159512185
+            ],
+            "target_position": [
+              0.2632408915561858,
+              -0.37845803444555054,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007659970111880892,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1869480801571759,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194159512185,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580501317615101,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655083206110155,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542900775618177,
+            "release_required_pad_clearance": 0.053275416030550776,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5686904338428838,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008078992366790771,
+            "max_z_decrease": 0.008078992366790771,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511573912290756,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008078992366790771,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02101563047458926,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008078992366790771,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008079012428363022,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11894081532955167,
+              -0.4347195029258728,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11894081532955167,
+              -0.4347195029258728,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11715511921833846,
+              -0.43456451190474027,
+              0.8078034507418526
+            ],
+            "closest_button": [
+              0.1189405098557472,
+              -0.4347147047519684,
+              0.7727334499359131
+            ],
+            "closest_ee_minus_button": [
+              -0.0017853906374087347,
+              0.00015019284722811443,
+              0.03507000080593947
+            ],
+            "button_min_z_position": [
+              0.11895117908716199,
+              -0.43470478057861334,
+              0.7687298655509949
+            ],
+            "min_active_finger_to_button": 0.14772494713006437,
+            "closest_active_finger": [
+              -0.010627619922161102,
+              -0.49678656458854675,
+              0.8109742999076843
+            ],
+            "closest_active_finger_button": [
+              0.11894124001264568,
+              -0.43471968173980713,
+              0.77659010887146
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12956885993480677,
+              -0.062066882848739624,
+              0.034384191036224365
+            ],
+            "min_contact_pad_to_button": 0.02101563047458926,
+            "closest_contact_pad": [
+              0.11895117908716199,
+              -0.4357165352478153,
+              0.7897211274647968
+            ],
+            "closest_contact_pad_button": [
+              0.11895117908716199,
+              -0.43470478057861334,
+              0.7687298655509949
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010117546692019475,
+              0.020991261913801962
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aebd08565fb85bbe605d07460d82876a0450d967ae07f39c7aa4988a953e1320",
+    "visual_seed": 5353131862237625627,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2f30d1132d9a26a042cc6a18d7e60ca0e360d1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_10_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24437761076666512,
+              -0.017671951714594656,
+              1.1604775908537117
+            ],
+            "current_z": 1.1604775908537117,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3038910238405014,
+            "gripper_z": 1.1537876114212917,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23974396336405138,
+              -0.02249808889536048,
+              1.1537876114212917
+            ],
+            "object_minus_gripper": [
+              0.004633647402613739,
+              0.004826137180765824,
+              0.006689979432420001
+            ],
+            "object_to_gripper_xy": 0.006690462490689215,
+            "object_to_gripper_z": 0.006689979432420001,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24437761076666512,
+              -0.04126020999644462,
+              1.1604775908537117
+            ],
+            "finger_b": [
+              0.23320739494956091,
+              -0.017671951714594656,
+              1.1604775908537117
+            ],
+            "finger_midpoint": [
+              0.23879250285811301,
+              -0.02946608085551964,
+              1.1604775908537117
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055851079085521005,
+              0.011794129140924984,
+              0.0
+            ],
+            "finger_gap": 0.026099418579193453,
+            "fingertip_max_gap": 0.09105399768823524,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013049709289596726,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1604775908537117,
+            "object_top_z": 1.2058459325523145,
+            "finger_top_clearance": 0.04536834169860282,
+            "fingertip_min_top_clearance": 0.01361050250958088,
+            "object_projection_between_fingers": 0.816826998033208,
+            "object_to_finger_line_xy": 0.010095471474138964,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048026998844117624,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6784965885046554,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27133500618397866,
+              -0.3833304905677312,
+              0.8470196075051082
+            ],
+            "target_position": [
+              0.2653984066924208,
+              -0.38332888717517244,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005936599708084795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18493570333136153,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196075051082,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550779777618342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514359227812167,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15296339321479568,
+            "release_required_pad_clearance": 0.052571796139060836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2093566377886575,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008153438568115234,
+            "max_z_decrease": 0.008153438568115234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498820737504931,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008153438568115234,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020964639660656644,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008153438568115234,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008153533175770472,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12109833210706711,
+              -0.43959033489227295,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12109833210706711,
+              -0.43959033489227295,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12050329283656214,
+              -0.4399349368177674,
+              0.8036360759963499
+            ],
+            "closest_button": [
+              0.12113130837678907,
+              -0.43956899642944336,
+              0.7686554193496704
+            ],
+            "closest_ee_minus_button": [
+              -0.0006280155402269283,
+              -0.0003659403883240486,
+              0.03498065664667949
+            ],
+            "button_min_z_position": [
+              0.12113130837678907,
+              -0.43956899642944336,
+              0.7686554193496704
+            ],
+            "min_active_finger_to_button": 0.1463459230474025,
+            "closest_active_finger": [
+              -0.0202295184135437,
+              -0.42362692952156067,
+              0.8111960291862488
+            ],
+            "closest_active_finger_button": [
+              0.12110332399606703,
+              -0.43958720564842224,
+              0.7767369747161865
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14133284240961075,
+              0.015960276126861572,
+              0.034459054470062256
+            ],
+            "min_contact_pad_to_button": 0.020964639660656644,
+            "closest_contact_pad": [
+              0.12113130837678907,
+              -0.44113885703232464,
+              0.7895611997414352
+            ],
+            "closest_contact_pad_button": [
+              0.12113130837678907,
+              -0.43956899642944336,
+              0.7686554193496704
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001569860602881279,
+              0.020905780391764828
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "08eb3c0a3a6c74c01bb94a5c53fae7fc7d0e19860160c99d4a02d9c93caa7b23",
+    "visual_seed": 541610128549474981,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..38aa38dc8bd7e7ef0edfca7eb850c210320a45ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_11_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24878929191980756,
+              -0.0270602493310814,
+              1.1602548203840743
+            ],
+            "current_z": 1.1602548203840743,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.303668253370864,
+            "gripper_z": 1.15345682592751,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24394070455957093,
+              -0.031736620212827193,
+              1.15345682592751
+            ],
+            "object_minus_gripper": [
+              0.004848587360236634,
+              0.004676370881745794,
+              0.006797994456564371
+            ],
+            "object_to_gripper_xy": 0.006736263356897976,
+            "object_to_gripper_z": 0.006797994456564371,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24878929191980756,
+              -0.05112344275189269,
+              1.1602548203840743
+            ],
+            "finger_b": [
+              0.23823584534560152,
+              -0.0270602493310814,
+              1.1602548203840743
+            ],
+            "finger_midpoint": [
+              0.24351256863270454,
+              -0.03909184604148705,
+              1.1602548203840743
+            ],
+            "object_minus_finger_midpoint": [
+              0.005276723287103019,
+              0.01203159671040565,
+              0.0
+            ],
+            "finger_gap": 0.026275701935476375,
+            "fingertip_max_gap": 0.09137658241785598,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013137850967738191,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1602548203840743,
+            "object_top_z": 1.2056685782802585,
+            "finger_top_clearance": 0.04541375789618418,
+            "fingertip_min_top_clearance": 0.01362412736885522,
+            "object_projection_between_fingers": 0.8386830588579548,
+            "object_to_finger_line_xy": 0.00966480845287888,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048188291208927994,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8523493128682482,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27713147460518106,
+              -0.37617156528138374,
+              0.8470196239323384
+            ],
+            "target_position": [
+              0.2695265495442357,
+              -0.3767159386118929,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00762438374595378,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18851178161664456,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196239323384,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523580677154701,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570230778004524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15722923298722832,
+            "release_required_pad_clearance": 0.05285115389002262,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7454570395123971,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00802546739578247,
+            "max_z_decrease": 0.00802546739578247,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509639953613414,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00802546739578247,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021083348200737047,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00802546739578247,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008025491906326385,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1252264827489853,
+              -0.43297740817070013,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1252264827489853,
+              -0.43297740817070013,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12438857465858788,
+              -0.43309340804394153,
+              0.8075819274566166
+            ],
+            "closest_button": [
+              0.12521669268608093,
+              -0.4329723119735718,
+              0.7724955081939697
+            ],
+            "closest_ee_minus_button": [
+              -0.0008281180274930522,
+              -0.00012109607036975278,
+              0.035086419262646884
+            ],
+            "button_min_z_position": [
+              0.12520711123943326,
+              -0.4329731464385987,
+              0.7687833905220032
+            ],
+            "min_active_finger_to_button": 0.14696643927268618,
+            "closest_active_finger": [
+              -0.002499297261238098,
+              -0.49702486395835876,
+              0.8107550144195557
+            ],
+            "closest_active_finger_button": [
+              0.12522736191749573,
+              -0.4329762160778046,
+              0.7763630747795105
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12772665917873383,
+              -0.06404864788055414,
+              0.034391939640045166
+            ],
+            "min_contact_pad_to_button": 0.021083348200737047,
+            "closest_contact_pad": [
+              0.12520711123943326,
+              -0.43410023612186593,
+              0.7898365907585324
+            ],
+            "closest_contact_pad_button": [
+              0.12520711123943326,
+              -0.4329731464385987,
+              0.7687833905220032
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011270896832672461,
+              0.021053200236529235
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f501f6b2799ed1a11704fc9e73a2889087ff917880e7e18df2d0882279ac9c6",
+    "visual_seed": 5209463676790749576,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a78e49e16bc8196f9fd45b090f8ef73ddeeb97
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_12_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24698562930438397,
+              -0.02835372538171675,
+              1.1603280762253267
+            ],
+            "current_z": 1.1603280762253267,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30374162842140595,
+            "gripper_z": 1.1537231157832026,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.241963382588596,
+              -0.0331358627220099,
+              1.1537231157832026
+            ],
+            "object_minus_gripper": [
+              0.005022246715787965,
+              0.004782137340293147,
+              0.006604960442124108
+            ],
+            "object_to_gripper_xy": 0.006934825132306439,
+            "object_to_gripper_z": 0.006604960442124108,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24698562930438397,
+              -0.052465944856873864,
+              1.1603280762253267
+            ],
+            "finger_b": [
+              0.23619126342575997,
+              -0.02835372538171675,
+              1.1603280762253267
+            ],
+            "finger_midpoint": [
+              0.24158844636507198,
+              -0.04040983511929531,
+              1.1603280762253267
+            ],
+            "object_minus_finger_midpoint": [
+              0.00539718293931199,
+              0.012056109737578556,
+              0.0
+            ],
+            "finger_gap": 0.026418127540379317,
+            "fingertip_max_gap": 0.09126451029328078,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013209063770189653,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1603280762253267,
+            "object_top_z": 1.2057280834445514,
+            "finger_top_clearance": 0.04540000721922466,
+            "fingertip_min_top_clearance": 0.013620002165767397,
+            "object_projection_between_fingers": 0.833048546651638,
+            "object_to_finger_line_xy": 0.009852178916265164,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813225514664039,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8051703955989361,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27191189666516835,
+              -0.3769025484128396,
+              0.8470198814761674
+            ],
+            "target_position": [
+              0.2623931403667618,
+              -0.378417872776606,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009638616570643225,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18864826329583917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198814761674,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538418283793061,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540632515654924,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15697088881967947,
+            "release_required_pad_clearance": 0.05270316257827462,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4562725566237125,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007863104343414307,
+            "max_z_decrease": 0.007863104343414307,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035147993452392015,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007863104343414307,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02113417706316634,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007863104343414307,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007863126621986053,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1180930659174919,
+              -0.4346793293952942,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1180930659174919,
+              -0.4346793293952942,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11975634719922287,
+              -0.435106376023628,
+              0.807854855726495
+            ],
+            "closest_button": [
+              0.11808308959007262,
+              -0.4346749484539032,
+              0.7727493643760681
+            ],
+            "closest_ee_minus_button": [
+              0.0016732576091502555,
+              -0.0004314275697248071,
+              0.03510549135042684
+            ],
+            "button_min_z_position": [
+              0.11807464808225629,
+              -0.43467599153518677,
+              0.7689457535743713
+            ],
+            "min_active_finger_to_button": 0.14453566768024548,
+            "closest_active_finger": [
+              -0.02119480073451996,
+              -0.4172556698322296,
+              0.8109111785888672
+            ],
+            "closest_active_finger_button": [
+              0.11809355765581131,
+              -0.4346770346164704,
+              0.7764756083488464
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13928835839033127,
+              0.017421364784240778,
+              0.03443557024002075
+            ],
+            "min_contact_pad_to_button": 0.02113417706316634,
+            "closest_contact_pad": [
+              0.11807464808225629,
+              -0.4363255622248561,
+              0.7900154559139169
+            ],
+            "closest_contact_pad_button": [
+              0.11807464808225629,
+              -0.43467599153518677,
+              0.7689457535743713
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016495706896693108,
+              0.021069702339545526
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cef756015f1d35394b7b3c4a3d8e7928fbf5b2cb909bf8d38f7c71f139788bb8",
+    "visual_seed": 653541990978975427,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe250b1d7b4dc40447d80321dd1de914b68628ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_13_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24450282367884796,
+              -0.020096659849468738,
+              1.1597042403919555
+            ],
+            "current_z": 1.1597042403919555,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30311773298338995,
+            "gripper_z": 1.153164742239174,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23972483907672013,
+              -0.02491188572827384,
+              1.153164742239174
+            ],
+            "object_minus_gripper": [
+              0.004777984602127833,
+              0.004815225878805101,
+              0.006539498152781542
+            ],
+            "object_to_gripper_xy": 0.006783475298258631,
+            "object_to_gripper_z": 0.006539498152781542,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24450282367884796,
+              -0.043878494196061595,
+              1.1597042403919555
+            ],
+            "finger_b": [
+              0.23344894751754527,
+              -0.020096659849468738,
+              1.1597042403919555
+            ],
+            "finger_midpoint": [
+              0.2389758855981966,
+              -0.03198757702276517,
+              1.1597042403919555
+            ],
+            "object_minus_finger_midpoint": [
+              0.005526938080651356,
+              0.01189091717329643,
+              0.0
+            ],
+            "finger_gap": 0.026225251630407655,
+            "fingertip_max_gap": 0.0913159419715881,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013112625815203836,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1597042403919555,
+            "object_top_z": 1.2051448002324752,
+            "finger_top_clearance": 0.045440559840519645,
+            "fingertip_min_top_clearance": 0.01363216795215586,
+            "object_projection_between_fingers": 0.8223399165682449,
+            "object_to_finger_line_xy": 0.01002398205594512,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815797098579405,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7678867576486795,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2699241754589071,
+              -0.38200724479140263,
+              0.8470196879465015
+            ],
+            "target_position": [
+              0.2632012068281089,
+              -0.3823922775961951,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0067339852592252945,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18724388731038286,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196879465015,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514215105024852,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549794196433762,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15607836830330882,
+            "release_required_pad_clearance": 0.05274897098216881,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5482247202610858,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008041083812713623,
+            "max_z_decrease": 0.008041083812713623,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035102644697911314,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008041083812713623,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108965200756838,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008041083812713623,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008041096202351855,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11890113353729247,
+              -0.43865373730659485,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11890113353729247,
+              -0.43865373730659485,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11917075311783934,
+              -0.4387204066380282,
+              0.8077146182274572
+            ],
+            "closest_button": [
+              0.11889040470123291,
+              -0.438647985458374,
+              0.7726131677627563
+            ],
+            "closest_ee_minus_button": [
+              0.0002803484166064296,
+              -7.242117965416961e-05,
+              0.03510145046470081
+            ],
+            "button_min_z_position": [
+              0.11888842284679413,
+              -0.438647598028183,
+              0.768767774105072
+            ],
+            "min_active_finger_to_button": 0.14592193820993005,
+            "closest_active_finger": [
+              -0.021742112934589386,
+              -0.4205743372440338,
+              0.8107600212097168
+            ],
+            "closest_active_finger_button": [
+              0.11890174448490144,
+              -0.4386514723300934,
+              0.776325523853302
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14064385741949081,
+              0.01807713508605957,
+              0.034434497356414795
+            ],
+            "min_contact_pad_to_button": 0.02108965200756838,
+            "closest_contact_pad": [
+              0.11888842284679413,
+              -0.43995463112746136,
+              0.789816885399322
+            ],
+            "closest_contact_pad_button": [
+              0.11888842284679413,
+              -0.438647598028183,
+              0.768767774105072
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013070330992783763,
+              0.021049111294250022
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e9b0da7841b7cd32fd6e0e7caf34d9bb3b1df9e959e1ee33e29b0cf7c7c32c73",
+    "visual_seed": 3681592827561502799,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd3f8663d73daf73af633ef31c54c0ca14fe54db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_14_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24638860362584583,
+              -0.025152011990301607,
+              1.1594238696602632
+            ],
+            "current_z": 1.1594238696602632,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30283736225169766,
+            "gripper_z": 1.1525991087796217,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2415138478408182,
+              -0.02982138147865973,
+              1.1525991087796217
+            ],
+            "object_minus_gripper": [
+              0.004874755785027635,
+              0.004669369488358124,
+              0.006824760880641545
+            ],
+            "object_to_gripper_xy": 0.006750278170747499,
+            "object_to_gripper_z": 0.006824760880641545,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24638860362584583,
+              -0.049186146707665065,
+              1.1594238696602632
+            ],
+            "finger_b": [
+              0.23579337847133666,
+              -0.025152011990301607,
+              1.1594238696602632
+            ],
+            "finger_midpoint": [
+              0.24109099104859125,
+              -0.037169079348983336,
+              1.1594238696602632
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052976125772545846,
+              0.01201706735868173,
+              0.0
+            ],
+            "finger_gap": 0.0262659176060369,
+            "fingertip_max_gap": 0.09106894834333157,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01313295880301845,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1594238696602632,
+            "object_top_z": 1.204794389682935,
+            "finger_top_clearance": 0.04537052002267172,
+            "fingertip_min_top_clearance": 0.013611156006801517,
+            "object_projection_between_fingers": 0.8372821395591655,
+            "object_to_finger_line_xy": 0.009694961833952595,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048034474171665786,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7343594884202254,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2719738693600625,
+              -0.37904122117464195,
+              0.8470195360114432
+            ],
+            "target_position": [
+              0.2635529084958509,
+              -0.38000681762777605,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008476140536051118,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18909345599494018,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195360114432,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522321503202041,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613918904780145,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15780995410249946,
+            "release_required_pad_clearance": 0.053069594523900726,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1683361107066637,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00810331106185913,
+            "max_z_decrease": 0.00810331106185913,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035054886339480354,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00810331106185913,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021042728593053974,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00810331106185913,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008103340185501781,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1192528381943702,
+              -0.43626827001571655,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1192528381943702,
+              -0.43626827001571655,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12011643788464807,
+              -0.43681736734806353,
+              0.8037453329764119
+            ],
+            "closest_button": [
+              0.11925975978374476,
+              -0.4362476766109466,
+              0.7687055468559265
+            ],
+            "closest_ee_minus_button": [
+              0.0008566781009033131,
+              -0.0005696907371169346,
+              0.03503978612048542
+            ],
+            "button_min_z_position": [
+              0.11925975978374476,
+              -0.4362476766109466,
+              0.7687055468559265
+            ],
+            "min_active_finger_to_button": 0.1449871309756851,
+            "closest_active_finger": [
+              -0.020948313176631927,
+              -0.42321473360061646,
+              0.8108103275299072
+            ],
+            "closest_active_finger_button": [
+              0.11925505101680749,
+              -0.43626469373703003,
+              0.776256263256073
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14020336419343943,
+              0.013049960136413574,
+              0.03455406427383423
+            ],
+            "min_contact_pad_to_button": 0.021042728593053974,
+            "closest_contact_pad": [
+              0.11925975978374476,
+              -0.43778172125316356,
+              0.789692283945732
+            ],
+            "closest_contact_pad_button": [
+              0.11925975978374476,
+              -0.4362476766109466,
+              0.7687055468559265
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015340446422169585,
+              0.020986737089805474
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9eb883dfaa637abf5b30f80da5c2b92ac0b5293b7943c7dcbbabf6e6ad72ce1",
+    "visual_seed": 7909733737085787913,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0991c15a56f20c6c8ef4bc6f252077cd086d327
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_15_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24731068993324223,
+              -0.0251143474381,
+              1.160457045591821
+            ],
+            "current_z": 1.160457045591821,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3038705381832554,
+            "gripper_z": 1.1538445910895885,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24248755041138845,
+              -0.029790798689695613,
+              1.1538445910895885
+            ],
+            "object_minus_gripper": [
+              0.0048231395218537865,
+              0.004676451251595614,
+              0.006612454502232579
+            ],
+            "object_to_gripper_xy": 0.00671802583768611,
+            "object_to_gripper_z": 0.006612454502232579,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24731068993324223,
+              -0.049218629062719836,
+              1.160457045591821
+            ],
+            "finger_b": [
+              0.23681488363436085,
+              -0.0251143474381,
+              1.160457045591821
+            ],
+            "finger_midpoint": [
+              0.24206278678380155,
+              -0.03716648825040992,
+              1.160457045591821
+            ],
+            "object_minus_finger_midpoint": [
+              0.00524790314944068,
+              0.01205214081230992,
+              0.0
+            ],
+            "finger_gap": 0.026290270871609973,
+            "fingertip_max_gap": 0.09185245213934445,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013145135435804983,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160457045591821,
+            "object_top_z": 1.2058120025305865,
+            "finger_top_clearance": 0.045354956938765456,
+            "fingertip_min_top_clearance": 0.013606487081629636,
+            "object_projection_between_fingers": 0.8406171850455223,
+            "object_to_finger_line_xy": 0.009623098679401434,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842622606967223,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4987204570695205,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27460986812201754,
+              -0.37434414497797247,
+              0.8470197012991901
+            ],
+            "target_position": [
+              0.2679895957524361,
+              -0.37485662462731295,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006640078436165634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466239716473176,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197012991901,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758840126880227,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08856630419368268,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15193997776257423,
+            "release_required_pad_clearance": 0.05428315209684134,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5839722307729027,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008032381534576416,
+            "max_z_decrease": 0.008032381534576416,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035110376749222696,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008032381534576416,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210963685533798,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008032381534576416,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008032399808194257,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12368952482938764,
+              -0.4311180710792541,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12368952482938764,
+              -0.4311180710792541,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12457767785359988,
+              -0.43127678275034126,
+              0.8076943767569889
+            ],
+            "closest_button": [
+              0.12367902696132657,
+              -0.431113451719284,
+              0.7725958824157715
+            ],
+            "closest_ee_minus_button": [
+              0.0008986508922733116,
+              -0.00016333103105725666,
+              0.03509849434121737
+            ],
+            "button_min_z_position": [
+              0.12367282807826993,
+              -0.4311142265796661,
+              0.7687764763832092
+            ],
+            "min_active_finger_to_button": 0.14531754693817167,
+            "closest_active_finger": [
+              -0.016637712717056274,
+              -0.41567885875701904,
+              0.8107497692108154
+            ],
+            "closest_active_finger_button": [
+              0.12368967384099956,
+              -0.4311156868934631,
+              0.7762951850891113
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14032738655805582,
+              0.015436828136444036,
+              0.0344545841217041
+            ],
+            "min_contact_pad_to_button": 0.0210963685533798,
+            "closest_contact_pad": [
+              0.12367282807826993,
+              -0.4322910130018297,
+              0.7898399979277336
+            ],
+            "closest_contact_pad_button": [
+              0.12367282807826993,
+              -0.4311142265796661,
+              0.7687764763832092
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011767864221636226,
+              0.0210635215445244
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20fb00eb7f4079a624641171a9a8e51b92b0ed4f166bc3f4a79d7d252da3e133",
+    "visual_seed": 1373405029583506020,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9be749fe93991fd1194682c90a78ed295bc24c53
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_16_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24361150481026914,
+              -0.027416232598577273,
+              1.1583560562069362
+            ],
+            "current_z": 1.1583560562069362,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.30176942958908104,
+            "gripper_z": 1.1519034888612423,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23869976621356648,
+              -0.03214758819122418,
+              1.1519034888612423
+            ],
+            "object_minus_gripper": [
+              0.004911738596702658,
+              0.004731355592646907,
+              0.006452567345693883
+            ],
+            "object_to_gripper_xy": 0.0068198901594094434,
+            "object_to_gripper_z": 0.006452567345693883,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24361150481026914,
+              -0.051567448295824776,
+              1.1583560562069362
+            ],
+            "finger_b": [
+              0.2330282759768445,
+              -0.027416232598577273,
+              1.1583560562069362
+            ],
+            "finger_midpoint": [
+              0.23831989039355683,
+              -0.039491840447201026,
+              1.1583560562069362
+            ],
+            "object_minus_finger_midpoint": [
+              0.005291614416712304,
+              0.012075607848623753,
+              0.0
+            ],
+            "finger_gap": 0.026368275487706903,
+            "fingertip_max_gap": 0.0916488321812752,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013184137743853448,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583560562069362,
+            "object_top_z": 1.203713168268703,
+            "finger_top_clearance": 0.04535711206176685,
+            "fingertip_min_top_clearance": 0.013607133618530087,
+            "object_projection_between_fingers": 0.838908391307293,
+            "object_to_finger_line_xy": 0.009693384857440862,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048324416090637604,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.315729169647588,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2745887824460804,
+              -0.38294559969848774,
+              0.8470195594396162
+            ],
+            "target_position": [
+              0.2676111589068604,
+              -0.3836375389958383,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007011847848199194,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18727600384436832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195594396162,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588568233368878,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08860886546238785,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1543896585467806,
+            "release_required_pad_clearance": 0.054304432731193925,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6295509060492734,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008101344108581543,
+            "max_z_decrease": 0.008101344108581543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035145835286177825,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008101344108581543,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02095847478683255,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008101344108581543,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008101365898641792,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1233110874891281,
+              -0.4398989975452423,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1233110874891281,
+              -0.4398989975452423,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12150995668813172,
+              -0.43801483488356263,
+              0.8037566703894442
+            ],
+            "closest_button": [
+              0.12332354485988614,
+              -0.43988493084907526,
+              0.7687075138092041
+            ],
+            "closest_ee_minus_button": [
+              -0.001813588171754421,
+              0.0018700959655126304,
+              0.035049156580240104
+            ],
+            "button_min_z_position": [
+              0.12332354485988614,
+              -0.43988493084907526,
+              0.7687075138092041
+            ],
+            "min_active_finger_to_button": 0.14668122874520514,
+            "closest_active_finger": [
+              -0.006318956613540649,
+              -0.49933767318725586,
+              0.8111032843589783
+            ],
+            "closest_active_finger_button": [
+              0.1233137771487236,
+              -0.4399003684520721,
+              0.7767820954322815
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12963273376226425,
+              -0.05943730473518377,
+              0.03432118892669678
+            ],
+            "min_contact_pad_to_button": 0.02095847478683255,
+            "closest_contact_pad": [
+              0.12332354485988614,
+              -0.43988493084907526,
+              0.7896659885960366
+            ],
+            "closest_contact_pad_button": [
+              0.12332354485988614,
+              -0.43988493084907526,
+              0.7687075138092041
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02095847478683255
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa04fc0ea2217df01753e6b606ba5f803659dee01267280246f61b011692e64d",
+    "visual_seed": 3851680311141469491,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4c4dc651166e38e23006e355bb0d8da162e77bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_17_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2461116690431997,
+              -0.028712271305946,
+              1.1600204829840548
+            ],
+            "current_z": 1.1600204829840548,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.303434035180134,
+            "gripper_z": 1.153285214600203,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24146717717059138,
+              -0.03351058821568989,
+              1.153285214600203
+            ],
+            "object_minus_gripper": [
+              0.0046444918726083195,
+              0.004798316909743892,
+              0.006735268383851745
+            ],
+            "object_to_gripper_xy": 0.006677960011939193,
+            "object_to_gripper_z": 0.006735268383851745,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2461116690431997,
+              -0.05229297531064798,
+              1.1600204829840548
+            ],
+            "finger_b": [
+              0.23500848283370565,
+              -0.028712271305946,
+              1.1600204829840548
+            ],
+            "finger_midpoint": [
+              0.2405600759384527,
+              -0.04050262330829699,
+              1.1600204829840548
+            ],
+            "object_minus_finger_midpoint": [
+              0.00555159310474701,
+              0.011790352002350988,
+              0.0
+            ],
+            "finger_gap": 0.02606396641649284,
+            "fingertip_max_gap": 0.09112728123928682,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013031983208246414,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1600204829840548,
+            "object_top_z": 1.2054549986655392,
+            "finger_top_clearance": 0.04543451568148438,
+            "fingertip_min_top_clearance": 0.013630354704445314,
+            "object_projection_between_fingers": 0.8185260752081434,
+            "object_to_finger_line_xy": 0.010045322470546628,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806364061964341,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6510266085538003,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2709684728955327,
+              -0.37511451654656863,
+              0.8470194740502963
+            ],
+            "target_position": [
+              0.264765237293756,
+              -0.3750710363818263,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00620338798205272,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18450253625872867,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194740502963,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540247170883178,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525605424033007,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15272789730770778,
+            "release_required_pad_clearance": 0.05262802712016504,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3165174533329311,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008055627346038818,
+            "max_z_decrease": 0.008055627346038818,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514789379138222,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008055627346038818,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021042498927025033,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008055627346038818,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00805563351644216,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12046516686677931,
+              -0.4313324987888336,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12046516686677931,
+              -0.4313324987888336,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11887049713619782,
+              -0.4295964970794455,
+              0.8071747987928579
+            ],
+            "closest_button": [
+              0.12045399844646454,
+              -0.4313260614871979,
+              0.7721052169799805
+            ],
+            "closest_ee_minus_button": [
+              -0.0015835013102667161,
+              0.0017295644077523487,
+              0.03506958181287745
+            ],
+            "button_min_z_position": [
+              0.1204613447189331,
+              -0.4313232898712158,
+              0.7687532305717468
+            ],
+            "min_active_finger_to_button": 0.14684216468061193,
+            "closest_active_finger": [
+              -0.007694154977798462,
+              -0.4941757321357727,
+              0.8110820055007935
+            ],
+            "closest_active_finger_button": [
+              0.12046682834625243,
+              -0.4313327670097351,
+              0.7766125202178955
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281609833240509,
+              -0.0628429651260376,
+              0.03446948528289795
+            ],
+            "min_contact_pad_to_button": 0.021042498927025033,
+            "closest_contact_pad": [
+              0.1204613447189331,
+              -0.4313232898712158,
+              0.7897957294987719
+            ],
+            "closest_contact_pad_button": [
+              0.1204613447189331,
+              -0.4313232898712158,
+              0.7687532305717468
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021042498927025033
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62c283e8e5aa9c1013e36f8c89643b03861c6a23a24ee566057e90dde3fd816f",
+    "visual_seed": 1470249268605667131,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b164514ae8edcbf32241c0b9e6faaa1c4ac2d32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_18_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24759774522613595,
+              -0.02765424281590364,
+              1.1600511295446463
+            ],
+            "current_z": 1.1600511295446463,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.30346474134537016,
+            "gripper_z": 1.1531386706421898,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2431653664558702,
+              -0.032324492767093094,
+              1.1531386706421898
+            ],
+            "object_minus_gripper": [
+              0.004432378770265755,
+              0.004670249951189455,
+              0.006912458902456509
+            ],
+            "object_to_gripper_xy": 0.006438727837833159,
+            "object_to_gripper_z": 0.006912458902456509,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24759774522613595,
+              -0.051093549335160346,
+              1.1600511295446463
+            ],
+            "finger_b": [
+              0.23665906071479126,
+              -0.02765424281590364,
+              1.1600511295446463
+            ],
+            "finger_midpoint": [
+              0.24212840297046362,
+              -0.03937389607553199,
+              1.1600511295446463
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054693422556723326,
+              0.01171965325962835,
+              0.0
+            ],
+            "finger_gap": 0.025866115072472756,
+            "fingertip_max_gap": 0.09124262299244848,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012933057536236367,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1600511295446463,
+            "object_top_z": 1.2054481548193867,
+            "finger_top_clearance": 0.04539702527474043,
+            "fingertip_min_top_clearance": 0.01361910758242213,
+            "object_projection_between_fingers": 0.8211587144819117,
+            "object_to_finger_line_xy": 0.009912396139137072,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812131149622424,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8538884980922101,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27380989814220036,
+              -0.3788922151341943,
+              0.8470195561900316
+            ],
+            "target_position": [
+              0.2679260116945659,
+              -0.3787229516217566,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005886320571061255,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860286245473463,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195561900316,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515348707653947,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562961289751113,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15485175765275078,
+            "release_required_pad_clearance": 0.052814806448755566,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6749238127127052,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008082687854766846,
+            "max_z_decrease": 0.008082687854766846,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035093290464809704,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008082687854766846,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02100718834435945,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008082687854766846,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008082706222620757,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12362593412399293,
+              -0.434984415769577,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12362593412399293,
+              -0.434984415769577,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12245921498446521,
+              -0.4343181001045085,
+              0.8037938763156162
+            ],
+            "closest_button": [
+              0.12363086640834811,
+              -0.43496790528297424,
+              0.7687261700630188
+            ],
+            "closest_ee_minus_button": [
+              -0.0011716514238828968,
+              0.0006498051784657455,
+              0.035067706252597364
+            ],
+            "button_min_z_position": [
+              0.12363086640834811,
+              -0.43496790528297424,
+              0.7687261700630188
+            ],
+            "min_active_finger_to_button": 0.14663989760930693,
+            "closest_active_finger": [
+              -0.003675036132335663,
+              -0.4991053342819214,
+              0.8106939792633057
+            ],
+            "closest_active_finger_button": [
+              0.12362720072269442,
+              -0.4349827766418457,
+              0.7762600183486938
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1273022368550301,
+              -0.06412255764007568,
+              0.034433960914611816
+            ],
+            "min_contact_pad_to_button": 0.02100718834435945,
+            "closest_contact_pad": [
+              0.12363086640834811,
+              -0.4353265102069117,
+              0.7897302973870454
+            ],
+            "closest_contact_pad_button": [
+              0.12363086640834811,
+              -0.43496790528297424,
+              0.7687261700630188
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003586049239374667,
+              0.021004127324026567
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "daf2173766eb6784c4cd94cdf3fc10ce50f3b56a12cebfeedb95012bc0f8b67d",
+    "visual_seed": 5027262195869133946,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95acd26bca4bf551870ad078efbc4306fae98b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_19_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24172294765081453,
+              -0.020514578502383585,
+              1.157126168002706
+            ],
+            "current_z": 1.157126168002706,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3005396009894957,
+            "gripper_z": 1.1506848558494054,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2368114011794306,
+              -0.02549849758398874,
+              1.1506848558494054
+            ],
+            "object_minus_gripper": [
+              0.0049115464713839485,
+              0.0049839190816051565,
+              0.006441312153300682
+            ],
+            "object_to_gripper_xy": 0.006997337933282349,
+            "object_to_gripper_z": 0.006441312153300682,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24172294765081453,
+              -0.04426543449325175,
+              1.157126168002706
+            ],
+            "finger_b": [
+              0.23032337355018193,
+              -0.020514578502383585,
+              1.157126168002706
+            ],
+            "finger_midpoint": [
+              0.23602316060049822,
+              -0.03239000649781767,
+              1.157126168002706
+            ],
+            "object_minus_finger_midpoint": [
+              0.005699787050316318,
+              0.011875427995434083,
+              0.0
+            ],
+            "finger_gap": 0.02634489419175511,
+            "fingertip_max_gap": 0.09105167142264131,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317244709587756,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.157126168002706,
+            "object_top_z": 1.2025337852052829,
+            "finger_top_clearance": 0.0454076172025768,
+            "fingertip_min_top_clearance": 0.013622285160773073,
+            "object_projection_between_fingers": 0.8127661642189989,
+            "object_to_finger_line_xy": 0.010277120145204061,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802583571132066,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5896437899498155,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27463988965152897,
+              -0.3747543617197822,
+              0.8470197291862398
+            ],
+            "target_position": [
+              0.267876214288143,
+              -0.37495592619807594,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0067666781111697626,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860238349353149,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197291862398,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515702007619474,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08607230937135545,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15507585028706428,
+            "release_required_pad_clearance": 0.053036154685677725,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1028585962481297,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008072316646575928,
+            "max_z_decrease": 0.008072316646575928,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035110665975268726,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008072316646575928,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021007763255085497,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008072316646575928,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008072324820340378,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12357614189386366,
+              -0.43121737241744995,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12357614189386366,
+              -0.43121737241744995,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12227560933093387,
+              -0.430191901104521,
+              0.8038084365114679
+            ],
+            "closest_button": [
+              0.12357670068740845,
+              -0.43120589852333063,
+              0.7687365412712097
+            ],
+            "closest_ee_minus_button": [
+              -0.0013010913564745763,
+              0.0010139974188096423,
+              0.03507189524025822
+            ],
+            "button_min_z_position": [
+              0.12357670068740845,
+              -0.43120589852333063,
+              0.7687365412712097
+            ],
+            "min_active_finger_to_button": 0.14658149467085604,
+            "closest_active_finger": [
+              -0.004661642014980316,
+              -0.4933391809463501,
+              0.8109787702560425
+            ],
+            "closest_active_finger_button": [
+              0.12357670813798904,
+              -0.4312164783477783,
+              0.7766010165214539
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12823835015296936,
+              -0.06212270259857178,
+              0.03437775373458862
+            ],
+            "min_contact_pad_to_button": 0.021007763255085497,
+            "closest_contact_pad": [
+              0.12357670068740845,
+              -0.4313633499562632,
+              0.7897437144753319
+            ],
+            "closest_contact_pad_button": [
+              0.12357670068740845,
+              -0.43120589852333063,
+              0.7687365412712097
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00015745143293255381,
+              0.021007173204122154
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "198978f0ef5c6be46d9bf55d3c8cc0e084c9ba896e917d90ddd84bc675d83b3c",
+    "visual_seed": 1442783377778119482,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e93a175cf3866f6172fa4768dd26236a6c06011f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_1_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24114061710848528,
+              -0.021488967005507575,
+              1.1574342666853645
+            ],
+            "current_z": 1.1574342666853645,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30084781888144374,
+            "gripper_z": 1.1511473076418868,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2362736387607627,
+              -0.026376333973387775,
+              1.1511473076418868
+            ],
+            "object_minus_gripper": [
+              0.004866978347722567,
+              0.0048873669678802,
+              0.006286959043477758
+            ],
+            "object_to_gripper_xy": 0.006897378785881401,
+            "object_to_gripper_z": 0.006286959043477758,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24114061710848528,
+              -0.04523280527628622,
+              1.1574342666853645
+            ],
+            "finger_b": [
+              0.2299013690855705,
+              -0.021488967005507575,
+              1.1574342666853645
+            ],
+            "finger_midpoint": [
+              0.2355209930970279,
+              -0.0333608861408969,
+              1.1574342666853645
+            ],
+            "object_minus_finger_midpoint": [
+              0.00561962401145738,
+              0.011871919135389323,
+              0.0
+            ],
+            "finger_gap": 0.026269574643482268,
+            "fingertip_max_gap": 0.09150294880562587,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013134787321741129,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1574342666853645,
+            "object_top_z": 1.2028737595055632,
+            "finger_top_clearance": 0.04543949282019866,
+            "fingertip_min_top_clearance": 0.01363184784605963,
+            "object_projection_between_fingers": 0.8169505498028606,
+            "object_to_finger_line_xy": 0.010158629934553154,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825147440281294,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8740525585292117,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2775948642202061,
+              -0.3831159008839101,
+              0.8470195971918801
+            ],
+            "target_position": [
+              0.2703334960810743,
+              -0.3838216405449922,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007295583302329016,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18925571320597945,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195971918801,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522166902546296,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08581022689858268,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1579830976620089,
+            "release_required_pad_clearance": 0.052905113449291344,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8494916857991843,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008100032806396484,
+            "max_z_decrease": 0.008100032806396484,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506140735777169,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008100032806396484,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021053400004446686,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008100032806396484,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008100059152524628,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12603342533111572,
+              -0.4400830864906311,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12603342533111572,
+              -0.4400830864906311,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12581993395559243,
+              -0.4408835476436886,
+              0.8037599584735227
+            ],
+            "closest_button": [
+              0.12604248523712158,
+              -0.44006451964378357,
+              0.7687088251113892
+            ],
+            "closest_ee_minus_button": [
+              -0.0002225512815291486,
+              -0.0008190279999050198,
+              0.0350511333621335
+            ],
+            "button_min_z_position": [
+              0.12604248523712158,
+              -0.44006451964378357,
+              0.7687088251113892
+            ],
+            "min_active_finger_to_button": 0.1459596528589545,
+            "closest_active_finger": [
+              -0.01512359082698822,
+              -0.4262886047363281,
+              0.8109350204467773
+            ],
+            "closest_active_finger_button": [
+              0.1260341554880142,
+              -0.44008123874664307,
+              0.7764607667922974
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1411577463150024,
+              0.013792634010314941,
+              0.03447425365447998
+            ],
+            "min_contact_pad_to_button": 0.021053400004446686,
+            "closest_contact_pad": [
+              0.12604248523712158,
+              -0.4419331736645793,
+              0.7896791323074652
+            ],
+            "closest_contact_pad_button": [
+              0.12604248523712158,
+              -0.44006451964378357,
+              0.7687088251113892
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018686540207957236,
+              0.020970307196076066
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "103920428453668ddd88f632f05ab438951fdf4d4a5593d0f2306755552eafa3",
+    "visual_seed": 8961135918635023862,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b721c9f2f6ca014544e38cc161b997f721b1790
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_20_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24777705495568259,
+              -0.025043456677945504,
+              1.1575274682706955
+            ],
+            "current_z": 1.1575274682706955,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30094102046677473,
+            "gripper_z": 1.150704960236485,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24291351892758456,
+              -0.02981117904080563,
+              1.150704960236485
+            ],
+            "object_minus_gripper": [
+              0.0048635360280980255,
+              0.004767722362860126,
+              0.006822508034210584
+            ],
+            "object_to_gripper_xy": 0.006810665108924683,
+            "object_to_gripper_z": 0.006822508034210584,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24777705495568259,
+              -0.048938151306140654,
+              1.1575274682706955
+            ],
+            "finger_b": [
+              0.2368570664279773,
+              -0.025043456677945504,
+              1.1575274682706955
+            ],
+            "finger_midpoint": [
+              0.24231706069182996,
+              -0.036990803992043075,
+              1.1575274682706955
+            ],
+            "object_minus_finger_midpoint": [
+              0.00545999426385263,
+              0.011947347314097571,
+              0.0
+            ],
+            "finger_gap": 0.02627170685014419,
+            "fingertip_max_gap": 0.09103547136286994,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013135853425072088,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1575274682706955,
+            "object_top_z": 1.2028714457865286,
+            "finger_top_clearance": 0.04534397751583308,
+            "fingertip_min_top_clearance": 0.013603193254749924,
+            "object_projection_between_fingers": 0.8272302179693984,
+            "object_to_finger_line_xy": 0.009931969502448994,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801773568143497,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6907892705268754,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27424824048659513,
+              -0.3786889188569297,
+              0.8470195959777632
+            ],
+            "target_position": [
+              0.26753508016017785,
+              -0.37922778355256215,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006734752907745169,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1878994956216213,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195959777632,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558533522100555,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660000730697369,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15578578207691068,
+            "release_required_pad_clearance": 0.05330000365348685,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6183008277780286,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008075833320617676,
+            "max_z_decrease": 0.008075833320617676,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517000069422829,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008075833320617676,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021029891920627874,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008075833320617676,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00807584370551071,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12323500961065292,
+              -0.4354892373085022,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12323500961065292,
+              -0.4354892373085022,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12423333913399465,
+              -0.43355953591487656,
+              0.8038365424568209
+            ],
+            "closest_button": [
+              0.12323434650897978,
+              -0.43547630310058594,
+              0.768733024597168
+            ],
+            "closest_ee_minus_button": [
+              0.0009989926250148634,
+              0.0019167671857093782,
+              0.03510351785965293
+            ],
+            "button_min_z_position": [
+              0.12323434650897978,
+              -0.43547630310058594,
+              0.768733024597168
+            ],
+            "min_active_finger_to_button": 0.14420176693217426,
+            "closest_active_finger": [
+              -0.002227097749710083,
+              -0.4976945221424103,
+              0.8106893301010132
+            ],
+            "closest_active_finger_button": [
+              0.12323605269193648,
+              -0.43548673391342163,
+              0.7762896418571472
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12546315044164658,
+              -0.06220778822898865,
+              0.03439968824386597
+            ],
+            "min_contact_pad_to_button": 0.021029891920627874,
+            "closest_contact_pad": [
+              0.12323434650897978,
+              -0.43547630310058594,
+              0.7897629165177958
+            ],
+            "closest_contact_pad_button": [
+              0.12323434650897978,
+              -0.43547630310058594,
+              0.768733024597168
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021029891920627874
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cbf98a83ffcbe5be7269775c0faa3cf5b7ced7ccf595452004514f2bc6f2bb15",
+    "visual_seed": 8836067449419079025,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c7411679f17331090c4ec6a408b7808cada861e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_21_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24799377497444194,
+              -0.023248657066370623,
+              1.160063656132302
+            ],
+            "current_z": 1.160063656132302,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3034772083283811,
+            "gripper_z": 1.1533958267823137,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24300381271181662,
+              -0.02800470428425722,
+              1.1533958267823137
+            ],
+            "object_minus_gripper": [
+              0.004989962262625325,
+              0.004756047217886597,
+              0.006667829349988219
+            ],
+            "object_to_gripper_xy": 0.006893454034168335,
+            "object_to_gripper_z": 0.006667829349988219,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24799377497444194,
+              -0.04741528531908,
+              1.160063656132302
+            ],
+            "finger_b": [
+              0.2373141187221713,
+              -0.023248657066370623,
+              1.160063656132302
+            ],
+            "finger_midpoint": [
+              0.24265394684830663,
+              -0.03533197119272531,
+              1.160063656132302
+            ],
+            "object_minus_finger_midpoint": [
+              0.005339828126135315,
+              0.012083314126354688,
+              0.0
+            ],
+            "finger_gap": 0.026421222128647157,
+            "fingertip_max_gap": 0.09146813867722356,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013210611064323578,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160063656132302,
+            "object_top_z": 1.2054971389169957,
+            "finger_top_clearance": 0.045433482784693835,
+            "fingertip_min_top_clearance": 0.01363004483540815,
+            "object_projection_between_fingers": 0.8366162936176682,
+            "object_to_finger_line_xy": 0.009768332488886384,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823406933861178,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9530774165742867,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27229723837953956,
+              -0.3824432681160034,
+              0.8470197932779329
+            ],
+            "target_position": [
+              0.26416791726531896,
+              -0.38333707188524185,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008178309541465019,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18738486626054418,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197932779329,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07512790751705334,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566410659935393,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15640262742586697,
+            "release_required_pad_clearance": 0.05283205329967697,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7077554326375479,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008173227310180664,
+            "max_z_decrease": 0.008173227310180664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501753219036221,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008173227310180664,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02106729522622991,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008173227310180664,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00817331796514939,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11986784636974336,
+              -0.4395985305309295,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11986784636974336,
+              -0.4395985305309295,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12051369710491486,
+              -0.44083965644570366,
+              0.8036246834026541
+            ],
+            "closest_button": [
+              0.11989443749189377,
+              -0.4395706951618194,
+              0.768635630607605
+            ],
+            "closest_ee_minus_button": [
+              0.0006192596130210892,
+              -0.0012689612838842623,
+              0.03498905279504916
+            ],
+            "button_min_z_position": [
+              0.11989443749189377,
+              -0.4395706951618194,
+              0.768635630607605
+            ],
+            "min_active_finger_to_button": 0.14504816121515773,
+            "closest_active_finger": [
+              -0.02015073597431183,
+              -0.42391398549079895,
+              0.8111727833747864
+            ],
+            "closest_active_finger_button": [
+              0.11987218260765076,
+              -0.43959456682205195,
+              0.7767246961593628
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14002291858196259,
+              0.015680581331252996,
+              0.034448087215423584
+            ],
+            "min_contact_pad_to_button": 0.02106729522622991,
+            "closest_contact_pad": [
+              0.11989443749189377,
+              -0.4420997810325798,
+              0.7895505691159403
+            ],
+            "closest_contact_pad_button": [
+              0.11989443749189377,
+              -0.4395706951618194,
+              0.768635630607605
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025290858707603947,
+              0.020914938508335368
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f118eaa5b5ab2417ca72071c890fd6062dbdf3946449bb6c3c8b3289549122f",
+    "visual_seed": 2696941455827562357,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9054a5510e54db115447a15c2362a8bc37353d52
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_22_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24981156627443554,
+              -0.02079603260742374,
+              1.1593398515942528
+            ],
+            "current_z": 1.1593398515942528,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.30275328458104267,
+            "gripper_z": 1.152541242996216,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2449631839275371,
+              -0.025582321090379043,
+              1.152541242996216
+            ],
+            "object_minus_gripper": [
+              0.004848382346898439,
+              0.004786288482955304,
+              0.006798608598036715
+            ],
+            "object_to_gripper_xy": 0.006812882563481261,
+            "object_to_gripper_z": 0.006798608598036715,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24981156627443554,
+              -0.0446476883456998,
+              1.1593398515942528
+            ],
+            "finger_b": [
+              0.23882180663321018,
+              -0.02079603260742374,
+              1.1593398515942528
+            ],
+            "finger_midpoint": [
+              0.24431668645382287,
+              -0.03272186047656177,
+              1.1593398515942528
+            ],
+            "object_minus_finger_midpoint": [
+              0.005494879820612669,
+              0.011925827869138029,
+              0.0
+            ],
+            "finger_gap": 0.026261688796213073,
+            "fingertip_max_gap": 0.09117055161514767,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01313084439810653,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1593398515942528,
+            "object_top_z": 1.2047174515837806,
+            "finger_top_clearance": 0.04537759998952784,
+            "fingertip_min_top_clearance": 0.013613279996858319,
+            "object_projection_between_fingers": 0.8248818797354769,
+            "object_to_finger_line_xy": 0.009981230287318999,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808527580757384,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7612560886519992,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27591681624885217,
+              -0.38090413842474913,
+              0.8470195605143174
+            ],
+            "target_position": [
+              0.26745991246511125,
+              -0.3819425152811137,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008520413611045248,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18712323382399673,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195605143174,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536812033479956,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854400291880215,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15564162582512622,
+            "release_required_pad_clearance": 0.05272001459401075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.492576547049402,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008045434951782227,
+            "max_z_decrease": 0.008045434951782227,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517390541698661,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008045434951782227,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021210763057180653,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008045434951782227,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00804544672750856,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12315984070301057,
+              -0.43820396065711975,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12315984070301057,
+              -0.43820396065711975,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12470965752659044,
+              -0.4398813673105871,
+              0.8075521631219352
+            ],
+            "closest_button": [
+              0.12314875423908235,
+              -0.43819934129714966,
+              0.7724531888961792
+            ],
+            "closest_ee_minus_button": [
+              0.0015609032875080892,
+              -0.001682026013437421,
+              0.03509897422575603
+            ],
+            "button_min_z_position": [
+              0.12314867228269578,
+              -0.4381959140300751,
+              0.7687634229660034
+            ],
+            "min_active_finger_to_button": 0.14451722203227838,
+            "closest_active_finger": [
+              -0.016571246087551117,
+              -0.42512670159339905,
+              0.8110488653182983
+            ],
+            "closest_active_finger_button": [
+              0.12316080182790758,
+              -0.4382013976573944,
+              0.7765635848045349
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13973204791545868,
+              0.013074696063995361,
+              0.03448528051376343
+            ],
+            "min_contact_pad_to_button": 0.021210763057180653,
+            "closest_contact_pad": [
+              0.12314867228269578,
+              -0.44081923259505656,
+              0.7898113366197241
+            ],
+            "closest_contact_pad_button": [
+              0.12314867228269578,
+              -0.4381959140300751,
+              0.7687634229660034
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026233185649814916,
+              0.021047913653720718
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8888da1ca94e68a44fba2eb608f94be1375961c1af49338db956ffda064ec37c",
+    "visual_seed": 6819418580006973570,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ed1e08898e907480b7b86291b8cb3bcfadfca2c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_23_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.241976217057346,
+              -0.025545090361738573,
+              1.1600404243795028
+            ],
+            "current_z": 1.1600404243795028,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30345397657558204,
+            "gripper_z": 1.1535030764139318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2368818755862266,
+              -0.030302684040776795,
+              1.1535030764139318
+            ],
+            "object_minus_gripper": [
+              0.0050943414711194235,
+              0.004757593679038222,
+              0.006537347965571039
+            ],
+            "object_to_gripper_xy": 0.006970438482562747,
+            "object_to_gripper_z": 0.006537347965571039,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.241976217057346,
+              -0.04977547249207394,
+              1.1600404243795028
+            ],
+            "finger_b": [
+              0.23130467218821868,
+              -0.025545090361738573,
+              1.1600404243795028
+            ],
+            "finger_midpoint": [
+              0.23664044462278233,
+              -0.03766028142690626,
+              1.1600404243795028
+            ],
+            "object_minus_finger_midpoint": [
+              0.005335772434563679,
+              0.012115191065167685,
+              0.0
+            ],
+            "finger_gap": 0.026476277836506273,
+            "fingertip_max_gap": 0.09091495503145447,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013238138918253144,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1600404243795028,
+            "object_top_z": 1.2053872359706475,
+            "finger_top_clearance": 0.04534681159114462,
+            "fingertip_min_top_clearance": 0.013604043477343352,
+            "object_projection_between_fingers": 0.8375421393742765,
+            "object_to_finger_line_xy": 0.0097663127610575,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795747751572724,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6030667100896208,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27771407968677086,
+              -0.37658564143297824,
+              0.8470195308601977
+            ],
+            "target_position": [
+              0.2703176574261844,
+              -0.37750756013418085,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007453656575703361,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18509368753349684,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195308601977,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585926777717278,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08747026805685533,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15251181283148824,
+            "release_required_pad_clearance": 0.05373513402842767,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4794000154638756,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008039355278015137,
+            "max_z_decrease": 0.008039355278015137,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035167497478645254,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008039355278015137,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021049344359658773,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008039355278015137,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008039368862478373,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12601758539676666,
+              -0.43376901745796204,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12601758539676666,
+              -0.43376901745796204,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12741569705796618,
+              -0.43246014018415985,
+              0.8081084789641056
+            ],
+            "closest_button": [
+              0.12601155042648315,
+              -0.433765172958374,
+              0.772993266582489
+            ],
+            "closest_ee_minus_button": [
+              0.0014041466314830275,
+              0.0013050327742141765,
+              0.035115212381616634
+            ],
+            "button_min_z_position": [
+              0.12600363790988925,
+              -0.4337641298770904,
+              0.7687695026397705
+            ],
+            "min_active_finger_to_button": 0.14440862795695583,
+            "closest_active_finger": [
+              -0.0006371438503265381,
+              -0.494077205657959,
+              0.8105952739715576
+            ],
+            "closest_active_finger_button": [
+              0.126017227768898,
+              -0.4337674677371979,
+              0.7763132452964783
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12665437161922455,
+              -0.06030973792076111,
+              0.034282028675079346
+            ],
+            "min_contact_pad_to_button": 0.021049344359658773,
+            "closest_contact_pad": [
+              0.12600363790988925,
+              -0.4337641298770904,
+              0.7898188469994293
+            ],
+            "closest_contact_pad_button": [
+              0.12600363790988925,
+              -0.4337641298770904,
+              0.7687695026397705
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021049344359658773
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2b9c6040484637512cbc4c2c2ff924c72807ffacebda0c0b19c8891cb2e88be",
+    "visual_seed": 8593866216534379536,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e4513a4ad68fd5a42f06f8d4c2cc9b2c00c9c6f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_24_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24748286322385776,
+              -0.01897216822586862,
+              1.1599886397647357
+            ],
+            "current_z": 1.1599886397647357,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.30340225156545964,
+            "gripper_z": 1.1533293051507003,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2425276865297605,
+              -0.023845452937980613,
+              1.1533293051507003
+            ],
+            "object_minus_gripper": [
+              0.0049551766940972575,
+              0.004873284712111993,
+              0.006659334614035339
+            ],
+            "object_to_gripper_xy": 0.006950012946392913,
+            "object_to_gripper_z": 0.006659334614035339,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24748286322385776,
+              -0.04281958885780191,
+              1.1599886397647357
+            ],
+            "finger_b": [
+              0.23626420497341724,
+              -0.01897216822586862,
+              1.1599886397647357
+            ],
+            "finger_midpoint": [
+              0.2418735340986375,
+              -0.030895878541835266,
+              1.1599886397647357
+            ],
+            "object_minus_finger_midpoint": [
+              0.005609329125220275,
+              0.011923710315966646,
+              0.0
+            ],
+            "finger_gap": 0.026354463829426217,
+            "fingertip_max_gap": 0.09119064992304757,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013177231914713115,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1599886397647357,
+            "object_top_z": 1.2053724270585195,
+            "finger_top_clearance": 0.045383787293783895,
+            "fingertip_min_top_clearance": 0.013615136188135169,
+            "object_projection_between_fingers": 0.8187936273822738,
+            "object_to_finger_line_xy": 0.010151451532299632,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048095324961523786,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7359482323406239,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27792231813407703,
+              -0.38288400045274523,
+              0.8470186016223208
+            ],
+            "target_position": [
+              0.2703001858292619,
+              -0.3839455363752307,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007695697459414148,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18744079159479562,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470186016223208,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583838877595779,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08676631231209551,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15477733938503171,
+            "release_required_pad_clearance": 0.05338315615604776,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7773461674931466,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008080065250396729,
+            "max_z_decrease": 0.008080065250396729,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511820146648768,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008080065250396729,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111614406248901,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008080065250396729,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008080080636190184,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12600010633468628,
+              -0.44020700454711914,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12600010633468628,
+              -0.44020700454711914,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12647841834264667,
+              -0.44116360696469425,
+              0.8038302581672612
+            ],
+            "closest_button": [
+              0.1259990930557251,
+              -0.4401912689208984,
+              0.7687287926673889
+            ],
+            "closest_ee_minus_button": [
+              0.0004793252869215725,
+              -0.0009723380437958729,
+              0.03510146549987225
+            ],
+            "button_min_z_position": [
+              0.1259990930557251,
+              -0.4401912689208984,
+              0.7687287926673889
+            ],
+            "min_active_finger_to_button": 0.14519914734663775,
+            "closest_active_finger": [
+              -0.014093771576881409,
+              -0.42361265420913696,
+              0.8108301162719727
+            ],
+            "closest_active_finger_button": [
+              0.12599994242191315,
+              -0.440205305814743,
+              0.776461124420166
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14009371399879456,
+              0.016592651605606024,
+              0.03436899185180664
+            ],
+            "min_contact_pad_to_button": 0.02111614406248901,
+            "closest_contact_pad": [
+              0.1259990930557251,
+              -0.44247480105002973,
+              0.7897211012846662
+            ],
+            "closest_contact_pad_button": [
+              0.1259990930557251,
+              -0.4401912689208984,
+              0.7687287926673889
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022835321291313493,
+              0.0209923086172773
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f6f4af2ca794407f6e36ae03cf33a88ae034b6392ea1700f3d99c3de9d83b52",
+    "visual_seed": 4043974635717562256,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..426e1cb51ba1c3ceb56475661d43a0c60ee9d7a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_25_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2460702166313977,
+              -0.024494847321158517,
+              1.1569583956734673
+            ],
+            "current_z": 1.1569583956734673,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3003718882649016,
+            "gripper_z": 1.150200155161298,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24125841640501466,
+              -0.029124976419828363,
+              1.150200155161298
+            ],
+            "object_minus_gripper": [
+              0.004811800226383028,
+              0.004630129098669847,
+              0.006758240512169333
+            ],
+            "object_to_gripper_xy": 0.006677687989788757,
+            "object_to_gripper_z": 0.006758240512169333,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2460702166313977,
+              -0.048444865077209597,
+              1.1569583956734673
+            ],
+            "finger_b": [
+              0.23547329440042838,
+              -0.024494847321158517,
+              1.1569583956734673
+            ],
+            "finger_midpoint": [
+              0.24077175551591304,
+              -0.03646985619918405,
+              1.1569583956734673
+            ],
+            "object_minus_finger_midpoint": [
+              0.005298461115484654,
+              0.011975008878025536,
+              0.0
+            ],
+            "finger_gap": 0.026189656570569486,
+            "fingertip_max_gap": 0.09143007142607404,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013094828285284741,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1569583956734673,
+            "object_top_z": 1.202329144032622,
+            "finger_top_clearance": 0.04537074835915478,
+            "fingertip_min_top_clearance": 0.013611224507746433,
+            "object_projection_between_fingers": 0.8362806969114774,
+            "object_to_finger_line_xy": 0.00969071415302216,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821503571303702,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0764238994925388,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2771717352220524,
+              -0.3799068550934821,
+              0.8470195089270501
+            ],
+            "target_position": [
+              0.2695255496690238,
+              -0.3806872032830397,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007685902471947519,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18787173444049932,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195089270501,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542139080783991,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603628604207221,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15611586070724612,
+            "release_required_pad_clearance": 0.05301814302103611,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0682502631100814,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0082131028175354,
+            "max_z_decrease": 0.0082131028175354,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035032085307461484,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0082131028175354,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02093380548909841,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.0082131028175354,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008213146413438245,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1252254694700241,
+              -0.43694865703582764,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1252254694700241,
+              -0.43694865703582764,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12644330004011506,
+              -0.4363723553076381,
+              0.8036027856476823
+            ],
+            "closest_button": [
+              0.12523990869522092,
+              -0.43692612648010254,
+              0.7685957551002502
+            ],
+            "closest_ee_minus_button": [
+              0.0012033913448941391,
+              0.0005537711724644123,
+              0.03500703054743204
+            ],
+            "button_min_z_position": [
+              0.12523990869522092,
+              -0.43692612648010254,
+              0.7685957551002502
+            ],
+            "min_active_finger_to_button": 0.14456286568206964,
+            "closest_active_finger": [
+              -0.00048185884952545166,
+              -0.49952420592308044,
+              0.8110263347625732
+            ],
+            "closest_active_finger_button": [
+              0.1252276003360748,
+              -0.43694591522216797,
+              0.7766823172569275
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12570945918560025,
+              -0.06257829070091248,
+              0.03434401750564575
+            ],
+            "min_contact_pad_to_button": 0.02093380548909841,
+            "closest_contact_pad": [
+              0.12523990869522092,
+              -0.4375411748224922,
+              0.7895205233855128
+            ],
+            "closest_contact_pad_button": [
+              0.12523990869522092,
+              -0.43692612648010254,
+              0.7685957551002502
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006150483423896791,
+              0.020924768285262574
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db8ab294c63af098e01b596f82a684ef25be89d1618d1ff28236e76c3b95d7e1",
+    "visual_seed": 789555353376489342,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9be009c5a004e517ab3049d01c5907a50413ced1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_26_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24327875336851024,
+              -0.018283246183501394,
+              1.159484180375468
+            ],
+            "current_z": 1.159484180375468,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30289761336225773,
+            "gripper_z": 1.1530819096639575,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23823298934049114,
+              -0.023157019440646576,
+              1.1530819096639575
+            ],
+            "object_minus_gripper": [
+              0.005045764028019095,
+              0.0048737732571451815,
+              0.00640227071151056
+            ],
+            "object_to_gripper_xy": 0.007015226324824812,
+            "object_to_gripper_z": 0.00640227071151056,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24327875336851024,
+              -0.04229741115573975,
+              1.159484180375468
+            ],
+            "finger_b": [
+              0.23220017137671373,
+              -0.018283246183501394,
+              1.159484180375468
+            ],
+            "finger_midpoint": [
+              0.23773946237261198,
+              -0.030290328669620573,
+              1.159484180375468
+            ],
+            "object_minus_finger_midpoint": [
+              0.005539290995898255,
+              0.012007082486119178,
+              0.0
+            ],
+            "finger_gap": 0.026446457196812535,
+            "fingertip_max_gap": 0.09147315032890291,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013223228598406267,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159484180375468,
+            "object_top_z": 1.2048981891391866,
+            "finger_top_clearance": 0.04541400876371848,
+            "fingertip_min_top_clearance": 0.013624202629115578,
+            "object_projection_between_fingers": 0.8245176873450413,
+            "object_to_finger_line_xy": 0.010059679965055414,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048236575164451456,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9498274910864885,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2801019213806102,
+              -0.37513776243275093,
+              0.847019957397398
+            ],
+            "target_position": [
+              0.271594162180449,
+              -0.3762524306216141,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008580469205072095,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18742510146267183,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019957397398,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548705701160559,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552794239065616,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15547728749799536,
+            "release_required_pad_clearance": 0.05276397119532808,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5760702063583802,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008135735988616943,
+            "max_z_decrease": 0.008135735988616943,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503324737891181,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008135735988616943,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021086735162149574,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008135735988616943,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008135787677015983,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12729409337043762,
+              -0.43251389265060425,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12729409337043762,
+              -0.43251389265060425,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12670355166161507,
+              -0.43415521566162985,
+              0.8036615722713395
+            ],
+            "closest_button": [
+              0.1273137331008911,
+              -0.43249255418777466,
+              0.7686731219291687
+            ],
+            "closest_ee_minus_button": [
+              -0.0006101814392760474,
+              -0.001662661473855187,
+              0.034988450342170796
+            ],
+            "button_min_z_position": [
+              0.1273137331008911,
+              -0.43249255418777466,
+              0.7686731219291687
+            ],
+            "min_active_finger_to_button": 0.14623442650754462,
+            "closest_active_finger": [
+              -0.014240272343158722,
+              -0.41968682408332825,
+              0.811217725276947
+            ],
+            "closest_active_finger_button": [
+              0.1272982954978943,
+              -0.4325105845928192,
+              0.7767664194107056
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141538567841053,
+              0.012823760509490967,
+              0.034451305866241455
+            ],
+            "min_contact_pad_to_button": 0.021086735162149574,
+            "closest_contact_pad": [
+              0.1273137331008911,
+              -0.43519439018147454,
+              0.7895860481247489
+            ],
+            "closest_contact_pad_button": [
+              0.1273137331008911,
+              -0.43249255418777466,
+              0.7686731219291687
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002701835993699886,
+              0.02091292619558016
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "180aeb93c2d809650cc4c541befd8a7fc97a6d4751c15b8c4aa2af7ae9692913",
+    "visual_seed": 956065798507961686,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..10043244f24e2b374146365419d91b35ac9d316f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_27_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24980015810496992,
+              -0.019050010419725347,
+              1.1594631213445017
+            ],
+            "current_z": 1.1594631213445017,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3028766735405809,
+            "gripper_z": 1.1526017925974714,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24493037882010446,
+              -0.02382145657937268,
+              1.1526017925974714
+            ],
+            "object_minus_gripper": [
+              0.004869779284865455,
+              0.004771446159647332,
+              0.006861328747030271
+            ],
+            "object_to_gripper_xy": 0.006817730468250999,
+            "object_to_gripper_z": 0.006861328747030271,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24980015810496992,
+              -0.04293821244911453,
+              1.1594631213445017
+            ],
+            "finger_b": [
+              0.23884551590148956,
+              -0.019050010419725347,
+              1.1594631213445017
+            ],
+            "finger_midpoint": [
+              0.24432283700322974,
+              -0.030994111434419935,
+              1.1594631213445017
+            ],
+            "object_minus_finger_midpoint": [
+              0.005477321101740179,
+              0.011944101014694588,
+              0.0
+            ],
+            "finger_gap": 0.026280227967108397,
+            "fingertip_max_gap": 0.09117669489849733,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013140113983554197,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1594631213445017,
+            "object_top_z": 1.2048421286076025,
+            "finger_top_clearance": 0.045379007263100846,
+            "fingertip_min_top_clearance": 0.013613702178930253,
+            "object_projection_between_fingers": 0.8262446688899111,
+            "object_to_finger_line_xy": 0.009957550841793754,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808834744924867,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7539409424210191,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27211170089148873,
+              -0.3779809573592506,
+              0.8470195332782957
+            ],
+            "target_position": [
+              0.26377484238177085,
+              -0.3790457025773732,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00840457566986998,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19022143099430353,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195332782957,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541044401597494,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851359688423315,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15848075150146437,
+            "release_required_pad_clearance": 0.05256798442116575,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2017409072210119,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007877111434936523,
+            "max_z_decrease": 0.007877111434936523,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035135671861879846,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007877111434936523,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021066898351972174,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007877111434936523,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007877134002517674,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11947476863861084,
+              -0.43530717492103577,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11947476863861084,
+              -0.43530717492103577,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12008253626871085,
+              -0.4339881983186931,
+              0.8078175678501445
+            ],
+            "closest_button": [
+              0.11946450173854828,
+              -0.4353026747703552,
+              0.7727119326591492
+            ],
+            "closest_ee_minus_button": [
+              0.00061803453016257,
+              0.0013144764516621055,
+              0.0351056351909953
+            ],
+            "button_min_z_position": [
+              0.11945616453886031,
+              -0.43530410528182983,
+              0.7689317464828491
+            ],
+            "min_active_finger_to_button": 0.14510011484216284,
+            "closest_active_finger": [
+              -0.008131355047225952,
+              -0.4952293634414673,
+              0.8107689619064331
+            ],
+            "closest_active_finger_button": [
+              0.11947518587112427,
+              -0.4353052973747253,
+              0.7764219045639038
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12760654091835022,
+              -0.059924066066742,
+              0.0343470573425293
+            ],
+            "min_contact_pad_to_button": 0.021066898351972174,
+            "closest_contact_pad": [
+              0.11945616453886031,
+              -0.43530410528182983,
+              0.7899986448348213
+            ],
+            "closest_contact_pad_button": [
+              0.11945616453886031,
+              -0.43530410528182983,
+              0.7689317464828491
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021066898351972174
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f34b00193d75c6e96af5ecfe3ce33652447193dd1a5b673437981241b6abffca",
+    "visual_seed": 5443775696371791862,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88cb227b4cf8a11c5c148e0d3c676edf3e08894b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_28_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24117083376811949,
+              -0.0254445649120699,
+              1.1589518895799975
+            ],
+            "current_z": 1.1589518895799975,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30236538217143194,
+            "gripper_z": 1.1524308603588278,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23621452517661323,
+              -0.030166511277595467,
+              1.1524308603588278
+            ],
+            "object_minus_gripper": [
+              0.004956308591506253,
+              0.004721946365525566,
+              0.006521029221169705
+            ],
+            "object_to_gripper_xy": 0.006845565888452086,
+            "object_to_gripper_z": 0.006521029221169705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24117083376811949,
+              -0.04954354223549044,
+              1.1589518895799975
+            ],
+            "finger_b": [
+              0.23051593326000078,
+              -0.0254445649120699,
+              1.1589518895799975
+            ],
+            "finger_midpoint": [
+              0.23584338351406015,
+              -0.037494053573780176,
+              1.1589518895799975
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053274502540593405,
+              0.012049488661710274,
+              0.0
+            ],
+            "finger_gap": 0.02634933799685764,
+            "fingertip_max_gap": 0.0910515428764562,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013174668998428818,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1589518895799975,
+            "object_top_z": 1.2042951556682997,
+            "finger_top_clearance": 0.04534326608830219,
+            "fingertip_min_top_clearance": 0.013602979826490691,
+            "object_projection_between_fingers": 0.8364843290690644,
+            "object_to_finger_line_xy": 0.009744920565331725,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480257714382281,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7536815411109482,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.272069561435953,
+              -0.3811715588938668,
+              0.8470196914944617
+            ],
+            "target_position": [
+              0.2638050370633041,
+              -0.3821450810001772,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008321665001523605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18896142727729312,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196914944617,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518884488429392,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08571154738231614,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1578426328181509,
+            "release_required_pad_clearance": 0.05285577369115807,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7538096992944392,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008059203624725342,
+            "max_z_decrease": 0.008059203624725342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516883898406839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008059203624725342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021041013270385878,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008059203624725342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008059216794173433,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11950496584177013,
+              -0.43840652704238886,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11950496584177013,
+              -0.43840652704238886,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12130711596047011,
+              -0.43720947944388605,
+              0.8077060569435166
+            ],
+            "closest_button": [
+              0.11949490010738369,
+              -0.438401311635971,
+              0.7726041674613953
+            ],
+            "closest_ee_minus_button": [
+              0.0018122158530864269,
+              0.0011918321920849628,
+              0.03510188948212134
+            ],
+            "button_min_z_position": [
+              0.1194951087236404,
+              -0.43839579820632935,
+              0.7687496542930603
+            ],
+            "min_active_finger_to_button": 0.14411047272778704,
+            "closest_active_finger": [
+              -0.0063048601150512695,
+              -0.49970191717147827,
+              0.8107076287269592
+            ],
+            "closest_active_finger_button": [
+              0.11950558423995968,
+              -0.43840399384498596,
+              0.7763255834579468
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12581044435501093,
+              -0.06129792332649231,
+              0.03438204526901245
+            ],
+            "min_contact_pad_to_button": 0.021041013270385878,
+            "closest_contact_pad": [
+              0.1194951087236404,
+              -0.43839579820632935,
+              0.7897906675634462
+            ],
+            "closest_contact_pad_button": [
+              0.1194951087236404,
+              -0.43839579820632935,
+              0.7687496542930603
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021041013270385878
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e62f3df7fa3550ead6bfb04cbdd12b4238e38a01bb7b6700e7aa4902e172a7d0",
+    "visual_seed": 8802192153072511391,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfbc623e7ac277b09c3b2472283e46195a189a2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_29_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24254146731799472,
+              -0.026050602143669107,
+              1.1569635743708766
+            ],
+            "current_z": 1.1569635743708766,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30037700735766626,
+            "gripper_z": 1.150547449055253,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2375391239886809,
+              -0.03091814677641261,
+              1.150547449055253
+            ],
+            "object_minus_gripper": [
+              0.005002343329313819,
+              0.004867544632743501,
+              0.006416125315623633
+            ],
+            "object_to_gripper_xy": 0.006979715577018918,
+            "object_to_gripper_z": 0.006416125315623633,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24254146731799472,
+              -0.05002773063311,
+              1.1569635743708766
+            ],
+            "finger_b": [
+              0.2314839611942588,
+              -0.026050602143669107,
+              1.1569635743708766
+            ],
+            "finger_midpoint": [
+              0.23701271425612674,
+              -0.038039166388389556,
+              1.1569635743708766
+            ],
+            "object_minus_finger_midpoint": [
+              0.00552875306186798,
+              0.011988564244720449,
+              0.0
+            ],
+            "finger_gap": 0.02640399841455108,
+            "fingertip_max_gap": 0.09103118326390292,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013201999207275546,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1569635743708766,
+            "object_top_z": 1.2023360675930852,
+            "finger_top_clearance": 0.0453724932222086,
+            "fingertip_min_top_clearance": 0.013611747966662613,
+            "object_projection_between_fingers": 0.8246220533007946,
+            "object_to_finger_line_xy": 0.010041177890523051,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801559163195146,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6201160795778072,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2690316095653521,
+              -0.3767497816792656,
+              0.8470200846155619
+            ],
+            "target_position": [
+              0.26238340881242267,
+              -0.377067472729728,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006655787019939521,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18771878010726287,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200846155619,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567343238061283,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663502856444456,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15526120137069335,
+            "release_required_pad_clearance": 0.053317514282222284,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6503872350565167,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008091211318969727,
+            "max_z_decrease": 0.008091211318969727,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506411514958706,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008091211318969727,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108537407713903,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008091211318969727,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008091236124684603,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11808333545923232,
+              -0.43332892656326294,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11808333545923232,
+              -0.43332892656326294,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11674101266659226,
+              -0.43426605003188634,
+              0.8037427605583428
+            ],
+            "closest_button": [
+              0.1180899143218994,
+              -0.4333100020885467,
+              0.7687176465988159
+            ],
+            "closest_ee_minus_button": [
+              -0.0013489016553071415,
+              -0.000956047943339644,
+              0.0350251139595269
+            ],
+            "button_min_z_position": [
+              0.1180899143218994,
+              -0.4333100020885467,
+              0.7687176465988159
+            ],
+            "min_active_finger_to_button": 0.14705297163883654,
+            "closest_active_finger": [
+              -0.02410425990819931,
+              -0.4186233878135681,
+              0.8110868334770203
+            ],
+            "closest_active_finger_button": [
+              0.11808394640684126,
+              -0.4333284795284271,
+              0.7765781283378601
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1421882063150406,
+              0.014705091714859009,
+              0.034508705139160156
+            ],
+            "min_contact_pad_to_button": 0.02108537407713903,
+            "closest_contact_pad": [
+              0.1180899143218994,
+              -0.43541292784640995,
+              0.7896978921462303
+            ],
+            "closest_contact_pad_button": [
+              0.1180899143218994,
+              -0.4333100020885467,
+              0.7687176465988159
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00210292575786325,
+              0.0209802455474144
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "016c8f04ba051aafeb69fa396d2713a409802b5494ddfa246c9a2570b4c60b6a",
+    "visual_seed": 2387799093133484445,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23f00fab2e737d42e1e8d6e324985b6e1b04376c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_2_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24387733870388242,
+              -0.024022784295375313,
+              1.1586861301608324
+            ],
+            "current_z": 1.1586861301608324,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.3020997419615564,
+            "gripper_z": 1.152161517786804,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23888106465929593,
+              -0.02882096728090844,
+              1.152161517786804
+            ],
+            "object_minus_gripper": [
+              0.004996274044586496,
+              0.004798182985533125,
+              0.006524612374028349
+            ],
+            "object_to_gripper_xy": 0.006927143299461061,
+            "object_to_gripper_z": 0.006524612374028349,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24387733870388242,
+              -0.0480872810558551,
+              1.1586861301608324
+            ],
+            "finger_b": [
+              0.23301688603125936,
+              -0.024022784295375313,
+              1.1586861301608324
+            ],
+            "finger_midpoint": [
+              0.23844711236757088,
+              -0.0360550326756152,
+              1.1586861301608324
+            ],
+            "object_minus_finger_midpoint": [
+              0.005430226336311544,
+              0.01203224838023989,
+              0.0
+            ],
+            "finger_gap": 0.02640169382046212,
+            "fingertip_max_gap": 0.09108983480089086,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013200846910231061,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1586861301608324,
+            "object_top_z": 1.2040473945973558,
+            "finger_top_clearance": 0.04536126443652333,
+            "fingertip_min_top_clearance": 0.013608379330956998,
+            "object_projection_between_fingers": 0.8307875653247828,
+            "object_to_finger_line_xy": 0.009899036400275453,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804491740044543,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7122166825280762,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2743046643464332,
+              -0.375630354614391,
+              0.8470196633811665
+            ],
+            "target_position": [
+              0.26697308371730466,
+              -0.3762188187101109,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007355159040657394,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865365161926765,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196633811665,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751305045505006,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531757614791084,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15561598398011717,
+            "release_required_pad_clearance": 0.05265878807395542,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37534358767005727,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00798887014389038,
+            "max_z_decrease": 0.00798887014389038,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035119797565501765,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00798887014389038,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021193244641780098,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00798887014389038,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00798889174524524,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12267301231622695,
+              -0.4324802756309509,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12267301231622695,
+              -0.4324802756309509,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12190884450172518,
+              -0.4338659390047058,
+              0.8074184200114333
+            ],
+            "closest_button": [
+              0.12266121804714201,
+              -0.43247565627098083,
+              0.7723342180252075
+            ],
+            "closest_ee_minus_button": [
+              -0.0007523735454168373,
+              -0.0013902827337249901,
+              0.03508420198622575
+            ],
+            "button_min_z_position": [
+              0.12265492975711821,
+              -0.43247601389884943,
+              0.7688199877738953
+            ],
+            "min_active_finger_to_button": 0.14674475949153912,
+            "closest_active_finger": [
+              -0.019155286252498627,
+              -0.417232871055603,
+              0.8107728362083435
+            ],
+            "closest_active_finger_button": [
+              0.12267321348190306,
+              -0.43247956037521357,
+              0.7763310074806213
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1418284997344017,
+              0.01524668931961054,
+              0.03444182872772217
+            ],
+            "min_contact_pad_to_button": 0.021193244641780098,
+            "closest_contact_pad": [
+              0.12265492975711821,
+              -0.43501183307098185,
+              0.789860977284196
+            ],
+            "closest_contact_pad_button": [
+              0.12265492975711821,
+              -0.43247601389884943,
+              0.7688199877738953
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002535819172132414,
+              0.021040989510300756
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b4a58194d264395e65fac9043578e2f1777c17a7f9adcf0ba4fd0d7107f0a48",
+    "visual_seed": 2061942166008621709,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..174ec8fe9c1998d8c1a07ca0450227e50c23606a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_30_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24178797749089914,
+              -0.023428250039649923,
+              1.1594511437958746
+            ],
+            "current_z": 1.1594511437958746,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3028645767826642,
+            "gripper_z": 1.1528489431516067,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2369986375883795,
+              -0.028141261726051706,
+              1.1528489431516067
+            ],
+            "object_minus_gripper": [
+              0.004789339902519646,
+              0.004713011686401782,
+              0.006602200644267864
+            ],
+            "object_to_gripper_xy": 0.006719394009732326,
+            "object_to_gripper_z": 0.006602200644267864,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24178797749089914,
+              -0.047254469168464375,
+              1.1594511437958746
+            ],
+            "finger_b": [
+              0.23094952463864352,
+              -0.023428250039649923,
+              1.1594511437958746
+            ],
+            "finger_midpoint": [
+              0.23636875106477134,
+              -0.03534135960405715,
+              1.1594511437958746
+            ],
+            "object_minus_finger_midpoint": [
+              0.005419226426127799,
+              0.011913109564407224,
+              0.0
+            ],
+            "finger_gap": 0.026175575986114457,
+            "fingertip_max_gap": 0.09115418460126246,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013087787993057222,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1594511437958746,
+            "object_top_z": 1.2048400105302464,
+            "finger_top_clearance": 0.04538886673437181,
+            "fingertip_min_top_clearance": 0.013616660020311543,
+            "object_projection_between_fingers": 0.8285481831894267,
+            "object_to_finger_line_xy": 0.00986566075230424,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807709230063123,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7282868588355047,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.277607622269551,
+              -0.3750261747493928,
+              0.8470195966007042
+            ],
+            "target_position": [
+              0.2708891803432436,
+              -0.37538488170737194,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006728011043307488,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18536978174873733,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195966007042,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752001587578757,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544450276469188,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542258549060333,
+            "release_required_pad_clearance": 0.052722251382345944,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.49732072254870835,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008020997047424316,
+            "max_z_decrease": 0.008020997047424316,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509997309133602,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008020997047424316,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021079606401022893,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008020997047424316,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008021026731831752,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1265891045331955,
+              -0.4316463470458985,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1265891045331955,
+              -0.4316463470458985,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12580315630905556,
+              -0.4316625853791574,
+              0.8078029446969012
+            ],
+            "closest_button": [
+              0.12657997012138367,
+              -0.4316414594650269,
+              0.7727115750312805
+            ],
+            "closest_ee_minus_button": [
+              -0.0007768138123281088,
+              -2.1125914130504242e-05,
+              0.03509136966562065
+            ],
+            "button_min_z_position": [
+              0.12656748294830322,
+              -0.43164339661598206,
+              0.7687878608703613
+            ],
+            "min_active_finger_to_button": 0.146885160325639,
+            "closest_active_finger": [
+              -0.001190774142742157,
+              -0.49540913105010986,
+              0.8107215166091919
+            ],
+            "closest_active_finger_button": [
+              0.12658964097499847,
+              -0.4316450953483582,
+              0.7763476371765137
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12778041511774063,
+              -0.06376403570175165,
+              0.03437387943267822
+            ],
+            "min_contact_pad_to_button": 0.021079606401022893,
+            "closest_contact_pad": [
+              0.12656927108764648,
+              -0.43267143805848474,
+              0.7899248328332041
+            ],
+            "closest_contact_pad_button": [
+              0.12656927108764648,
+              -0.43164128065109253,
+              0.7688704133033752
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001030157407392207,
+              0.021054419529828894
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ec6e7e8f9afccd3fbf2fd6549b47ced93e6a849168f5792aae1272233a7196f",
+    "visual_seed": 8322147054712550365,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb616da903644b803b06fcbf94f5ff6d05d49e4e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_31_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24182941223344034,
+              -0.02697416987264865,
+              1.1586388512478794
+            ],
+            "current_z": 1.1586388512478794,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30205240344395856,
+            "gripper_z": 1.1522292705878157,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23677585064532328,
+              -0.03190599045182618,
+              1.1522292705878157
+            ],
+            "object_minus_gripper": [
+              0.005053561588117067,
+              0.004931820579177532,
+              0.006409580660063696
+            ],
+            "object_to_gripper_xy": 0.0070612561878246076,
+            "object_to_gripper_z": 0.006409580660063696,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24182941223344034,
+              -0.05085929629557788,
+              1.1586388512478794
+            ],
+            "finger_b": [
+              0.23055451883223746,
+              -0.02697416987264865,
+              1.1586388512478794
+            ],
+            "finger_midpoint": [
+              0.2361919655328389,
+              -0.03891673308411327,
+              1.1586388512478794
+            ],
+            "object_minus_finger_midpoint": [
+              0.005637446700601456,
+              0.011942563211464616,
+              0.0
+            ],
+            "finger_gap": 0.02641254409268067,
+            "fingertip_max_gap": 0.09102843369428501,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013206272046340341,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1586388512478794,
+            "object_top_z": 1.2040612479310764,
+            "finger_top_clearance": 0.04542239668319703,
+            "fingertip_min_top_clearance": 0.013626719004959141,
+            "object_projection_between_fingers": 0.8177764853337711,
+            "object_to_finger_line_xy": 0.010195998285807275,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801421684714251,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5166998846307472,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2738608192754136,
+              -0.3792183264409207,
+              0.8470196322047966
+            ],
+            "target_position": [
+              0.26614421078098865,
+              -0.38022338011926093,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007781785113492707,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18897597411875872,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196322047966,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539064869668748,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08501699985323828,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15733602713837413,
+            "release_required_pad_clearance": 0.05250849992661914,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.08846911239636927,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008175492286682129,
+            "max_z_decrease": 0.008175492286682129,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502531469942331,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008175492286682129,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021010357106513857,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008175492286682129,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008175573368284538,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12184413522481914,
+              -0.436484843492508,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12184413522481914,
+              -0.436484843492508,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12309648362021577,
+              -0.43719710355063834,
+              0.8036293058728751
+            ],
+            "closest_button": [
+              0.12186788767576215,
+              -0.43645724654197693,
+              0.7686333656311035
+            ],
+            "closest_ee_minus_button": [
+              0.0012285959444536254,
+              -0.0007398570086614153,
+              0.03499594024177155
+            ],
+            "button_min_z_position": [
+              0.12186788767576215,
+              -0.43645724654197693,
+              0.7686333656311035
+            ],
+            "min_active_finger_to_button": 0.14457021029575934,
+            "closest_active_finger": [
+              -0.017901182174682617,
+              -0.4230666160583496,
+              0.8112704753875732
+            ],
+            "closest_active_finger_button": [
+              0.12184949964284895,
+              -0.43648031353950506,
+              0.7767688035964966
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13975068181753159,
+              0.013413697481155451,
+              0.03450167179107666
+            ],
+            "min_contact_pad_to_button": 0.021010357106513857,
+            "closest_contact_pad": [
+              0.12186788767576215,
+              -0.43820891417034163,
+              0.7895705757189585
+            ],
+            "closest_contact_pad_button": [
+              0.12186788767576215,
+              -0.43645724654197693,
+              0.7686333656311035
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001751667628364706,
+              0.020937210087854985
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bcc32ecf71a0c239233d6b20df727830d55ab4625ae202176439740193553d72",
+    "visual_seed": 4153570277589408989,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67dacc30a432cf76dc4f109fb8b13faa53ab718a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_32_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.244229773750548,
+              -0.026043363367718803,
+              1.1591754215188899
+            ],
+            "current_z": 1.1591754215188899,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3025888545056795,
+            "gripper_z": 1.1525505841877624,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23956340571139897,
+              -0.030788523041306984,
+              1.1525505841877624
+            ],
+            "object_minus_gripper": [
+              0.004666368039149021,
+              0.0047451596735881806,
+              0.006624837331127509
+            ],
+            "object_to_gripper_xy": 0.006655188277174356,
+            "object_to_gripper_z": 0.006624837331127509,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.244229773750548,
+              -0.04981279661415086,
+              1.1591754215188899
+            ],
+            "finger_b": [
+              0.23337098742228593,
+              -0.026043363367718803,
+              1.1591754215188899
+            ],
+            "finger_midpoint": [
+              0.23880038058641695,
+              -0.03792807999093483,
+              1.1591754215188899
+            ],
+            "object_minus_finger_midpoint": [
+              0.005429393164131047,
+              0.011884716623216027,
+              0.0
+            ],
+            "finger_gap": 0.026132340067040318,
+            "fingertip_max_gap": 0.09121280411544827,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013066170033520164,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1591754215188899,
+            "object_top_z": 1.204614603742545,
+            "finger_top_clearance": 0.04543918222365506,
+            "fingertip_min_top_clearance": 0.013631754667096518,
+            "object_projection_between_fingers": 0.827334340155426,
+            "object_to_finger_line_xy": 0.009876926295339115,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810640205772414,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6812212200949714,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2702841713015452,
+              -0.3776598605423396,
+              0.8470198072804314
+            ],
+            "target_position": [
+              0.26402103350818373,
+              -0.37783434922980386,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006265567916852045,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18392101959862392,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198072804314,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558930136868111,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638556544488275,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15179190133118878,
+            "release_required_pad_clearance": 0.05319278272244138,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4071992026106968,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007985711097717285,
+            "max_z_decrease": 0.007985711097717285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513549984561507,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007985711097717285,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021249623814850137,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007985711097717285,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007985735317378298,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11972095817327497,
+              -0.43409579992294306,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11972095817327497,
+              -0.43409579992294306,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11886601061178084,
+              -0.4358919562152151,
+              0.8075601760979754
+            ],
+            "closest_button": [
+              0.11971155554056163,
+              -0.4340903759002685,
+              0.7724810838699341
+            ],
+            "closest_ee_minus_button": [
+              -0.000845544928780792,
+              -0.0018015803149465937,
+              0.035079092228041286
+            ],
+            "button_min_z_position": [
+              0.11970212310552593,
+              -0.43409013748168945,
+              0.7688231468200684
+            ],
+            "min_active_finger_to_button": 0.14681103998704656,
+            "closest_active_finger": [
+              -0.02219764143228531,
+              -0.41910022497177124,
+              0.810792863368988
+            ],
+            "closest_active_finger_button": [
+              0.11972150206565854,
+              -0.43409472703933716,
+              0.7763312458992004
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14191914349794385,
+              0.014994502067565918,
+              0.0344616174697876
+            ],
+            "min_contact_pad_to_button": 0.021249623814850137,
+            "closest_contact_pad": [
+              0.11970212310552593,
+              -0.43707529916738486,
+              0.7898620470285608
+            ],
+            "closest_contact_pad_button": [
+              0.11970212310552593,
+              -0.43409013748168945,
+              0.7688231468200684
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029851616856954033,
+              0.021038900208492417
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "92bb3158c11d8b578db0ea81cedd0c24cfb4cd913e12e8a11105ccd506f4ee0c",
+    "visual_seed": 3629993145293714088,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93630acfe9093ff6e712ba7e7aaf08912e74fef9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_33_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24693024430194566,
+              -0.018139280935207544,
+              1.158642919821894
+            ],
+            "current_z": 1.158642919821894,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30205641241332837,
+            "gripper_z": 1.1520615777276542,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24218671277646467,
+              -0.022980636251626177,
+              1.1520615777276542
+            ],
+            "object_minus_gripper": [
+              0.004743531525480987,
+              0.004841355316418633,
+              0.006581342094239773
+            ],
+            "object_to_gripper_xy": 0.006777891459225866,
+            "object_to_gripper_z": 0.006581342094239773,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24693024430194566,
+              -0.041848137081116205,
+              1.158642919821894
+            ],
+            "finger_b": [
+              0.23575724098220377,
+              -0.018139280935207544,
+              1.158642919821894
+            ],
+            "finger_midpoint": [
+              0.2413437426420747,
+              -0.029993709008161874,
+              1.158642919821894
+            ],
+            "object_minus_finger_midpoint": [
+              0.005586501659870957,
+              0.01185442807295433,
+              0.0
+            ],
+            "finger_gap": 0.026209652094798093,
+            "fingertip_max_gap": 0.09130930548734983,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013104826047399052,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158642919821894,
+            "object_top_z": 1.2040783816618865,
+            "finger_top_clearance": 0.045435461839992586,
+            "fingertip_min_top_clearance": 0.013630638551997809,
+            "object_projection_between_fingers": 0.818273884567204,
+            "object_to_finger_line_xy": 0.010106930357846896,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815465274367492,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.829064687807248,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27883702961910173,
+              -0.37537367314075926,
+              0.8470193676531805
+            ],
+            "target_position": [
+              0.2720296277777196,
+              -0.3758990618102878,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0068276462330822095,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18708598987433586,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193676531805,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753874957829818,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552370039762837,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1553816031981805,
+            "release_required_pad_clearance": 0.052761850198814186,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5733472979987297,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007999598979949951,
+            "max_z_decrease": 0.007999598979949951,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035156780227534525,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007999598979949951,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0212152391746283,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007999598979949951,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007999624454420996,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1277295500040054,
+              -0.43216052651405334,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1277295500040054,
+              -0.43216052651405334,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12624946554850938,
+              -0.4337557915926268,
+              0.8078746137398483
+            ],
+            "closest_button": [
+              0.12771902978420255,
+              -0.43215736746788025,
+              0.772784948348999
+            ],
+            "closest_ee_minus_button": [
+              -0.001469564235693166,
+              -0.0015984241247465336,
+              0.035089665390849234
+            ],
+            "button_min_z_position": [
+              0.1277099400758743,
+              -0.4321557283401489,
+              0.7688092589378357
+            ],
+            "min_active_finger_to_button": 0.14740293650530165,
+            "closest_active_finger": [
+              -0.014656364917755127,
+              -0.4155682623386383,
+              0.8106706738471985
+            ],
+            "closest_active_finger_button": [
+              0.12772926688194272,
+              -0.4321602284908294,
+              0.7763389945030212
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14238563179969785,
+              0.016591966152191107,
+              0.034331679344177246
+            ],
+            "min_contact_pad_to_button": 0.0212152391746283,
+            "closest_contact_pad": [
+              0.1277099400758743,
+              -0.4350790472802497,
+              0.7898221259390598
+            ],
+            "closest_contact_pad_button": [
+              0.1277099400758743,
+              -0.4321557283401489,
+              0.7688092589378357
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002923318940100783,
+              0.021012867001224067
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a8f2641a45772868f67232cf490745e136b0c4df474fc66e1e8ab7dfba74b58c",
+    "visual_seed": 94056135354814024,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbd28d53bdf8523d8ebc07545d3950de809c7360
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_34_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24668111409264276,
+              -0.025103904556901237,
+              1.1588173913343678
+            ],
+            "current_z": 1.1588173913343678,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3022308839258022,
+            "gripper_z": 1.1521796381138252,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2417914808740945,
+              -0.0299332055652545,
+              1.1521796381138252
+            ],
+            "object_minus_gripper": [
+              0.004889633218548267,
+              0.004829301008353264,
+              0.006637753220542608
+            ],
+            "object_to_gripper_xy": 0.006872456710755807,
+            "object_to_gripper_z": 0.006637753220542608,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24668111409264276,
+              -0.04899783446488245,
+              1.1588173913343678
+            ],
+            "finger_b": [
+              0.23564890016733853,
+              -0.025103904556901237,
+              1.1588173913343678
+            ],
+            "finger_midpoint": [
+              0.24116500712999064,
+              -0.03705086951089184,
+              1.1588173913343678
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055161069626521175,
+              0.011946964953990606,
+              0.0
+            ],
+            "finger_gap": 0.026317857635856222,
+            "fingertip_max_gap": 0.09103991032860781,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013158928817928111,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1588173913343678,
+            "object_top_z": 1.2041801781966224,
+            "finger_top_clearance": 0.04536278686225459,
+            "fingertip_min_top_clearance": 0.013608836058676342,
+            "object_projection_between_fingers": 0.8242787505371708,
+            "object_to_finger_line_xy": 0.01001612478904565,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801995516430391,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6362711602236747,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2704435762140644,
+              -0.37548396423097974,
+              0.847019631538126
+            ],
+            "target_position": [
+              0.2638987761069818,
+              -0.3757116637589185,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00654875984570298,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18648265562345667,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019631538126,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523594749542549,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500690230523338,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551892710490611,
+            "release_required_pad_clearance": 0.05250345115261669,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912936466589163,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008102357387542725,
+            "max_z_decrease": 0.008102357387542725,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509125492938714,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008102357387542725,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021008819869801628,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008102357387542725,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0081023808223623,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11959870159626002,
+              -0.4319731295108795,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11959870159626002,
+              -0.4319731295108795,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12090579172484717,
+              -0.43124011365557446,
+              0.8037663907395001
+            ],
+            "closest_button": [
+              0.11960616707801813,
+              -0.4319551289081573,
+              0.7687065005302429
+            ],
+            "closest_ee_minus_button": [
+              0.001299624646829034,
+              0.000715015252582829,
+              0.03505989020925715
+            ],
+            "button_min_z_position": [
+              0.11960616707801813,
+              -0.4319551289081573,
+              0.7687065005302429
+            ],
+            "min_active_finger_to_button": 0.14445543512955605,
+            "closest_active_finger": [
+              -0.0058772265911102295,
+              -0.49473148584365845,
+              0.8109784722328186
+            ],
+            "closest_active_finger_button": [
+              0.11959981918334955,
+              -0.43197065591812134,
+              0.7765697240829468
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12547704577445978,
+              -0.06276082992553711,
+              0.034408748149871826
+            ],
+            "min_contact_pad_to_button": 0.021008819869801628,
+            "closest_contact_pad": [
+              0.11960616707801813,
+              -0.4323800579780136,
+              0.7897110226054381
+            ],
+            "closest_contact_pad_button": [
+              0.11960616707801813,
+              -0.4319551289081573,
+              0.7687065005302429
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00042492906985630574,
+              0.02100452207519521
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3ab1b9c6270f8ead183fcf56f5bdf69e019456ef1390ada8345de337893f0741",
+    "visual_seed": 6674944628065683116,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b367f205431bfd523cf82cb44376f9393de8ee1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_35_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24758951139618157,
+              -0.020724068159911718,
+              1.1570298388194944
+            ],
+            "current_z": 1.1570298388194944,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3004433314109288,
+            "gripper_z": 1.1502683180330022,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24273720124455883,
+              -0.025419789453211702,
+              1.1502683180330022
+            ],
+            "object_minus_gripper": [
+              0.004852310151622741,
+              0.004695721293299985,
+              0.00676152078649217
+            ],
+            "object_to_gripper_xy": 0.006752385672626526,
+            "object_to_gripper_z": 0.00676152078649217,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24758951139618157,
+              -0.04478327493731666,
+              1.1570298388194944
+            ],
+            "finger_b": [
+              0.23698134040653487,
+              -0.020724068159911718,
+              1.1570298388194944
+            ],
+            "finger_midpoint": [
+              0.2422854259013582,
+              -0.03275367154861419,
+              1.1570298388194944
+            ],
+            "object_minus_finger_midpoint": [
+              0.005304085494823363,
+              0.01202960338870247,
+              0.0
+            ],
+            "finger_gap": 0.0262940815109315,
+            "fingertip_max_gap": 0.09118283599709975,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013147040755465753,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1570298388194944,
+            "object_top_z": 1.2023991182067049,
+            "finger_top_clearance": 0.04536927938721047,
+            "fingertip_min_top_clearance": 0.01361078381616314,
+            "object_projection_between_fingers": 0.837233504470467,
+            "object_to_finger_line_xy": 0.00970652575424137,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809141799854988,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.787019383151988,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2730366169749656,
+              -0.3775378804242526,
+              0.8470193697508558
+            ],
+            "target_position": [
+              0.2643775585624057,
+              -0.37893207350491487,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008770579623849915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862241330912309,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193697508558,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576493508066755,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08738573312730262,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15390312711446474,
+            "release_required_pad_clearance": 0.05369286656365131,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.390350633196091,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007885456085205078,
+            "max_z_decrease": 0.007885456085205078,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510353457870642,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007885456085205078,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021125724633371448,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007885456085205078,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007885476685026704,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12007748335599895,
+              -0.4351935386657715,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12007748335599895,
+              -0.4351935386657715,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11968944138067975,
+              -0.43569584020378205,
+              0.8079022139871782
+            ],
+            "closest_button": [
+              0.12006803601980204,
+              -0.43518906831741333,
+              0.7728043794631958
+            ],
+            "closest_ee_minus_button": [
+              -0.00037859463912229274,
+              -0.0005067718863687176,
+              0.03509783452398241
+            ],
+            "button_min_z_position": [
+              0.12006010115146633,
+              -0.43518877029418945,
+              0.7689234018325806
+            ],
+            "min_active_finger_to_button": 0.14650029382160315,
+            "closest_active_finger": [
+              -0.021270476281642914,
+              -0.4179441034793854,
+              0.8108809590339661
+            ],
+            "closest_active_finger_button": [
+              0.12007785588502878,
+              -0.4351923167705536,
+              0.7764500975608826
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1413483321666717,
+              0.017248213291168213,
+              0.034430861473083496
+            ],
+            "min_contact_pad_to_button": 0.021125724633371448,
+            "closest_contact_pad": [
+              0.12006010115146633,
+              -0.43693265798433073,
+              0.7899770261526166
+            ],
+            "closest_contact_pad_button": [
+              0.12006010115146633,
+              -0.43518877029418945,
+              0.7689234018325806
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001743887690141277,
+              0.02105362432003599
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fc66e12bc0f08c6d0dd593b9cc267d4cdc2d1786f602df23935b1c37f3ceb17",
+    "visual_seed": 2662267214862216306,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8be2992ce42a49acea2e5b9709c0c6b707b56838
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_36_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24971017919798777,
+              -0.020721505964523632,
+              1.1582507139072054
+            ],
+            "current_z": 1.1582507139072054,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3016642064986398,
+            "gripper_z": 1.1514229358558223,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2447614352506594,
+              -0.025512770858100886,
+              1.1514229358558223
+            ],
+            "object_minus_gripper": [
+              0.00494874394732836,
+              0.004791264893577254,
+              0.0068277780513830155
+            ],
+            "object_to_gripper_xy": 0.0068881264460406745,
+            "object_to_gripper_z": 0.0068277780513830155,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24971017919798777,
+              -0.04476917869108657,
+              1.1582507139072054
+            ],
+            "finger_b": [
+              0.23885941858490475,
+              -0.020721505964523632,
+              1.1582507139072054
+            ],
+            "finger_midpoint": [
+              0.24428479889144628,
+              -0.0327453423278051,
+              1.1582507139072054
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425380306541494,
+              0.012023836363281467,
+              0.0
+            ],
+            "finger_gap": 0.026382372324078678,
+            "fingertip_max_gap": 0.09115143596034408,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013191186162039332,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1582507139072054,
+            "object_top_z": 1.203656531147685,
+            "finger_top_clearance": 0.04540581724047965,
+            "fingertip_min_top_clearance": 0.013621745172143861,
+            "object_projection_between_fingers": 0.8308419483153648,
+            "object_to_finger_line_xy": 0.009890526024437506,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048075717980172045,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7094504199520488,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27273791957497984,
+              -0.3778094146734855,
+              0.8470195315210565
+            ],
+            "target_position": [
+              0.2639861775783498,
+              -0.3791711200978857,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008857044068898997,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18674680002035485,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195315210565,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558781193166002,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08658440386376391,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15476333011578167,
+            "release_required_pad_clearance": 0.05329220193188196,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6027489502132415,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008055269718170166,
+            "max_z_decrease": 0.008055269718170166,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035136537223911926,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008055269718170166,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021232831540779186,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008055269718170166,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008055280661497587,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11968610435724258,
+              -0.4354325830936432,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11968610435724258,
+              -0.4354325830936432,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1198293876803618,
+              -0.43728870936645736,
+              0.807605828048997
+            ],
+            "closest_button": [
+              0.11967641115188599,
+              -0.4354267716407776,
+              0.7725189924240112
+            ],
+            "closest_ee_minus_button": [
+              0.00015297652847581777,
+              -0.0018619377256797742,
+              0.035086835624985824
+            ],
+            "button_min_z_position": [
+              0.1196795254945755,
+              -0.43542104959487915,
+              0.7687535881996155
+            ],
+            "min_active_finger_to_button": 0.14586780388758078,
+            "closest_active_finger": [
+              -0.021342270076274872,
+              -0.42133310437202454,
+              0.8107975721359253
+            ],
+            "closest_active_finger_button": [
+              0.11968676745891571,
+              -0.4354305267333985,
+              0.7763085961341858
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14102903753519058,
+              0.014097422361373957,
+              0.0344889760017395
+            ],
+            "min_contact_pad_to_button": 0.021232831540779186,
+            "closest_contact_pad": [
+              0.1196795254945755,
+              -0.43836621351257926,
+              0.7897811687722107
+            ],
+            "closest_contact_pad_button": [
+              0.1196795254945755,
+              -0.43542104959487915,
+              0.7687535881996155
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002945163917700111,
+              0.02102758057259524
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4b82311e41653d182a8c2be509b0d735381cca7b20e65876efffebd6e8a71f1",
+    "visual_seed": 516299802338015890,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03c13606e341db78a62ba7873f7ce9135035ec24
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_37_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24865752202673416,
+              -0.02361552041005761,
+              1.1573465693221177
+            ],
+            "current_z": 1.1573465693221177,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3007600023089073,
+            "gripper_z": 1.150745340434688,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24359174449514717,
+              -0.02842804271468631,
+              1.150745340434688
+            ],
+            "object_minus_gripper": [
+              0.00506577753158699,
+              0.0048125223046287,
+              0.006601228887429755
+            ],
+            "object_to_gripper_xy": 0.00698730798892394,
+            "object_to_gripper_z": 0.006601228887429755,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24865752202673416,
+              -0.047796569860532545,
+              1.1573465693221177
+            ],
+            "finger_b": [
+              0.2378449528636005,
+              -0.02361552041005761,
+              1.1573465693221177
+            ],
+            "finger_midpoint": [
+              0.24325123744516733,
+              -0.03570604513529508,
+              1.1573465693221177
+            ],
+            "object_minus_finger_midpoint": [
+              0.005406284581566834,
+              0.012090524725237469,
+              0.0
+            ],
+            "finger_gap": 0.02648838999323785,
+            "fingertip_max_gap": 0.09135538935965185,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013244194996618929,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1573465693221177,
+            "object_top_z": 1.202811169612875,
+            "finger_top_clearance": 0.04546460029075727,
+            "fingertip_min_top_clearance": 0.013639380087227182,
+            "object_projection_between_fingers": 0.8333725020926193,
+            "object_to_finger_line_xy": 0.009870712024670533,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048177694679825925,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7664880120296949,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27366567737142605,
+              -0.3744522805158843,
+              0.8470195316407325
+            ],
+            "target_position": [
+              0.26570991267715943,
+              -0.37520674446202357,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007991458422375936,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18649618685700614,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195316407325,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521509131410778,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617653510129504,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15523932042842284,
+            "release_required_pad_clearance": 0.05308826755064752,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.204618539092895,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007803440093994141,
+            "max_z_decrease": 0.007803440093994141,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511374582525084,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007803440093994141,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021095763104285823,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007803440093994141,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0078034605332149235,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12140984088182444,
+              -0.43146818876266474,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12140984088182444,
+              -0.43146818876266474,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11971302437671058,
+              -0.43192283151758454,
+              0.8071982485863273
+            ],
+            "closest_button": [
+              0.12139920890331264,
+              -0.43146154284477234,
+              0.7721280455589294
+            ],
+            "closest_ee_minus_button": [
+              -0.0016861845266020609,
+              -0.000461288672812199,
+              0.03507020302739783
+            ],
+            "button_min_z_position": [
+              0.1213927865028381,
+              -0.4314628839492798,
+              0.7690054178237915
+            ],
+            "min_active_finger_to_button": 0.1477159594176755,
+            "closest_active_finger": [
+              -0.021516837179660797,
+              -0.4173779785633087,
+              0.8110343217849731
+            ],
+            "closest_active_finger_button": [
+              0.12141132354736324,
+              -0.43146833777427673,
+              0.7764943838119507
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14292816072702402,
+              0.014090359210968018,
+              0.03453993797302246
+            ],
+            "min_contact_pad_to_button": 0.021095763104285823,
+            "closest_contact_pad": [
+              0.1213927865028381,
+              -0.4329152123775105,
+              0.79005112909922
+            ],
+            "closest_contact_pad_button": [
+              0.1213927865028381,
+              -0.4314628839492798,
+              0.7690054178237915
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014523284282307314,
+              0.021045711275428536
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1948c3734cb4b0a38e73528da68caae5e81bc9c2c6f12408ace9242c325e1823",
+    "visual_seed": 3751576988079590711,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a79cf01e63bf5dd6a02e3e7162b94f0495e420
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_38_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24093446033335283,
+              -0.02752154259031159,
+              1.1581634828762495
+            ],
+            "current_z": 1.1581634828762495,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3015770350723287,
+            "gripper_z": 1.1516264004236267,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23614667049937882,
+              -0.032236414354026105,
+              1.1516264004236267
+            ],
+            "object_minus_gripper": [
+              0.0047877898339740155,
+              0.004714871763714514,
+              0.0065370824526227445
+            ],
+            "object_to_gripper_xy": 0.006719594276634367,
+            "object_to_gripper_z": 0.0065370824526227445,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24093446033335283,
+              -0.051400900187827434,
+              1.1581634828762495
+            ],
+            "finger_b": [
+              0.23018273391772764,
+              -0.02752154259031159,
+              1.1581634828762495
+            ],
+            "finger_midpoint": [
+              0.23555859712554023,
+              -0.03946122138906951,
+              1.1581634828762495
+            ],
+            "object_minus_finger_midpoint": [
+              0.005375863207812609,
+              0.01193967879875792,
+              0.0
+            ],
+            "finger_gap": 0.02618822903875881,
+            "fingertip_max_gap": 0.09114607814946699,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013094114519379408,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1581634828762495,
+            "object_top_z": 1.203551203534075,
+            "finger_top_clearance": 0.04538772065782548,
+            "fingertip_min_top_clearance": 0.013616316197347678,
+            "object_projection_between_fingers": 0.8314440262633546,
+            "object_to_finger_line_xy": 0.009803806110347797,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048073039074733495,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7281489524510613,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27572847690399493,
+              -0.38053525901765084,
+              0.8470195820595179
+            ],
+            "target_position": [
+              0.267724671049563,
+              -0.38176525834645286,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008097765525396034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18783592743703967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195820595179,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585305064457457,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08731644395387174,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15528141095094478,
+            "release_required_pad_clearance": 0.05365822197693587,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3259586959290703,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008099794387817383,
+            "max_z_decrease": 0.008099794387817383,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509270361060906,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008099794387817383,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020977830926959595,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008099794387817383,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008099819221563066,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1234245970845222,
+              -0.43802672624588007,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1234245970845222,
+              -0.43802672624588007,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12257263470094781,
+              -0.4365416340483143,
+              0.8037604659868169
+            ],
+            "closest_button": [
+              0.12343456596136089,
+              -0.43800932168960566,
+              0.7687090635299683
+            ],
+            "closest_ee_minus_button": [
+              -0.0008619312604130763,
+              0.0014676876412913487,
+              0.03505140245684868
+            ],
+            "button_min_z_position": [
+              0.12343456596136089,
+              -0.43800932168960566,
+              0.7687090635299683
+            ],
+            "min_active_finger_to_button": 0.14601261788451048,
+            "closest_active_finger": [
+              -0.004149220883846283,
+              -0.500164270401001,
+              0.8106346726417542
+            ],
+            "closest_active_finger_button": [
+              0.12342537939548488,
+              -0.43802404403686523,
+              0.7762399315834045
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12757460027933115,
+              -0.06214022636413574,
+              0.03439474105834961
+            ],
+            "min_contact_pad_to_button": 0.020977830926959595,
+            "closest_contact_pad": [
+              0.12343456596136089,
+              -0.43800932168960566,
+              0.7896868944569279
+            ],
+            "closest_contact_pad_button": [
+              0.12343456596136089,
+              -0.43800932168960566,
+              0.7687090635299683
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020977830926959595
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b879d538151e1cdb91f9a6a3ebfb99ad43ff153da14a7f440d0faaf0ab585313",
+    "visual_seed": 2810966159626626973,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..902429e130e0a1914a00757de495f8366cc50c59
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_39_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2491184701897935,
+              -0.022558973004829973,
+              1.1587486636784659
+            ],
+            "current_z": 1.1587486636784659,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3021621562699003,
+            "gripper_z": 1.1520280000144527,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24418053396807038,
+              -0.027364536964964978,
+              1.1520280000144527
+            ],
+            "object_minus_gripper": [
+              0.004937936221723116,
+              0.004805563960135005,
+              0.006720663664013138
+            ],
+            "object_to_gripper_xy": 0.006890330841458456,
+            "object_to_gripper_z": 0.006720663664013138,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2491184701897935,
+              -0.04656491699598553,
+              1.1587486636784659
+            ],
+            "finger_b": [
+              0.23820293141695456,
+              -0.022558973004829973,
+              1.1587486636784659
+            ],
+            "finger_midpoint": [
+              0.24366070080337404,
+              -0.034561945000407754,
+              1.1587486636784659
+            ],
+            "object_minus_finger_midpoint": [
+              0.005457769386419453,
+              0.012002971995577781,
+              0.0
+            ],
+            "finger_gap": 0.0263710889727339,
+            "fingertip_max_gap": 0.09115274671760293,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013185544486366949,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1587486636784659,
+            "object_top_z": 1.204135788202486,
+            "finger_top_clearance": 0.04538712452402005,
+            "fingertip_min_top_clearance": 0.013616137357206048,
+            "object_projection_between_fingers": 0.8286696803086836,
+            "object_to_finger_line_xy": 0.00993655638130794,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048076373358801466,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7065362113197633,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27166676461012546,
+              -0.3786937319194864,
+              0.8470189374274075
+            ],
+            "target_position": [
+              0.26490534027077006,
+              -0.3791084399102308,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006774130336391141,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851368787177929,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189374274075,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754452255814804,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622482831938548,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532876904534817,
+            "release_required_pad_clearance": 0.05311241415969274,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.248644754847607,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008086442947387695,
+            "max_z_decrease": 0.008086442947387695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507378912561659,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008086442947387695,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106330001089971,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008086442947387695,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008086463830217602,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12060526758432387,
+              -0.4353699088096618,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12060526758432387,
+              -0.4353699088096618,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12065244964766947,
+              -0.435794313867865,
+              0.8037933936395504
+            ],
+            "closest_button": [
+              0.1206105127930641,
+              -0.43535229563713074,
+              0.768722414970398
+            ],
+            "closest_ee_minus_button": [
+              4.1936854605365004e-05,
+              -0.0004420182307342535,
+              0.03507097866915243
+            ],
+            "button_min_z_position": [
+              0.1206105127930641,
+              -0.43535229563713074,
+              0.768722414970398
+            ],
+            "min_active_finger_to_button": 0.1457663423798622,
+            "closest_active_finger": [
+              -0.02034253627061844,
+              -0.4216265082359314,
+              0.8108038306236267
+            ],
+            "closest_active_finger_button": [
+              0.12060655653476714,
+              -0.43536734580993647,
+              0.7762731313705444
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1409490928053856,
+              0.013740837574005071,
+              0.034530699253082275
+            ],
+            "min_contact_pad_to_button": 0.02106330001089971,
+            "closest_contact_pad": [
+              0.1206105127930641,
+              -0.43680763653154947,
+              0.7897353774038627
+            ],
+            "closest_contact_pad_button": [
+              0.1206105127930641,
+              -0.43535229563713074,
+              0.768722414970398
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001455340894418733,
+              0.021012962433464732
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d29c356419f0702be6e888e6c4347446267ac5ed033830688dd14e1af9c7aa04",
+    "visual_seed": 4824072873824727485,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..386a0ede0b4f65a6f6a6bfcf47ae0096ad0c18b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_3_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24085850600736974,
+              -0.02211980928637542,
+              1.1588895770625267
+            ],
+            "current_z": 1.1588895770625267,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30230306965396114,
+            "gripper_z": 1.1524441510847019,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2361035377065537,
+              -0.02687742947628681,
+              1.1524441510847019
+            ],
+            "object_minus_gripper": [
+              0.004754968300816037,
+              0.004757620189911389,
+              0.006445425977824826
+            ],
+            "object_to_gripper_xy": 0.006726416089807249,
+            "object_to_gripper_z": 0.006445425977824826,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24085850600736974,
+              -0.045949540180396445,
+              1.1588895770625267
+            ],
+            "finger_b": [
+              0.22998670140018354,
+              -0.02211980928637542,
+              1.1588895770625267
+            ],
+            "finger_midpoint": [
+              0.23542260370377666,
+              -0.034034674733385936,
+              1.1588895770625267
+            ],
+            "object_minus_finger_midpoint": [
+              0.005435902303593088,
+              0.011914865447010516,
+              0.0
+            ],
+            "finger_gap": 0.026192598380044223,
+            "fingertip_max_gap": 0.09128660792136206,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013096299190022108,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1588895770625267,
+            "object_top_z": 1.2043355790454568,
+            "finger_top_clearance": 0.04544600198293014,
+            "fingertip_min_top_clearance": 0.013633800594879042,
+            "object_projection_between_fingers": 0.8277155386842099,
+            "object_to_finger_line_xy": 0.009891045338938524,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814330396068103,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7488008924298908,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2761586788802784,
+              -0.37866644211913825,
+              0.8470196156568349
+            ],
+            "target_position": [
+              0.2699247856109736,
+              -0.3788278579244917,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006235982709669862,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852991863540872,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196156568349,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755170679955069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08679842532239636,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15317811533686929,
+            "release_required_pad_clearance": 0.05339921266119818,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8126685678336367,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008132576942443848,
+            "max_z_decrease": 0.008132576942443848,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035011548924701805,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008132576942443848,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210180912991872,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008132576942443848,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008132638094794612,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1256247162818908,
+              -0.4350893199443817,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1256247162818908,
+              -0.4350893199443817,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12451357089129064,
+              -0.4360786028607851,
+              0.8036548517064434
+            ],
+            "closest_button": [
+              0.12564860284328455,
+              -0.4350687265396118,
+              0.7686762809753418
+            ],
+            "closest_ee_minus_button": [
+              -0.001135031951993909,
+              -0.0010098763211732753,
+              0.034978570731101555
+            ],
+            "button_min_z_position": [
+              0.12564860284328455,
+              -0.4350687265396118,
+              0.7686762809753418
+            ],
+            "min_active_finger_to_button": 0.14682443821396782,
+            "closest_active_finger": [
+              -0.016477055847644806,
+              -0.4218379855155945,
+              0.8105731010437012
+            ],
+            "closest_active_finger_button": [
+              0.12562346458435053,
+              -0.43508872389793396,
+              0.77608722448349
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14210052043199534,
+              0.013250738382339478,
+              0.03448587656021118
+            ],
+            "min_contact_pad_to_button": 0.0210180912991872,
+            "closest_contact_pad": [
+              0.12564860284328455,
+              -0.43709889173191485,
+              0.789596094338585
+            ],
+            "closest_contact_pad_button": [
+              0.12564860284328455,
+              -0.4350687265396118,
+              0.7686762809753418
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002030165192303035,
+              0.020919813363243223
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "918abef3d8c28411fc82f109a3e929efb98e6933aa3be4946b5f8d960b86d4c2",
+    "visual_seed": 2064497147294078503,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd95d96e271f4427d50ed34a6c15e6e6bfab413
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_40_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24514786108136483,
+              -0.02745950924126854,
+              1.1606289215853365
+            ],
+            "current_z": 1.1606289215853365,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3040424737814157,
+            "gripper_z": 1.1540331869142824,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2401931980821075,
+              -0.03222608378709696,
+              1.1540331869142824
+            ],
+            "object_minus_gripper": [
+              0.004954662999257314,
+              0.00476657454582842,
+              0.006595734671054121
+            ],
+            "object_to_gripper_xy": 0.006875239511256964,
+            "object_to_gripper_z": 0.006595734671054121,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24514786108136483,
+              -0.05150795785819397,
+              1.1606289215853365
+            ],
+            "finger_b": [
+              0.23435429837812938,
+              -0.02745950924126854,
+              1.1606289215853365
+            ],
+            "finger_midpoint": [
+              0.2397510797297471,
+              -0.039483733549731254,
+              1.1606289215853365
+            ],
+            "object_minus_finger_midpoint": [
+              0.005396781351617724,
+              0.012024224308462714,
+              0.0
+            ],
+            "finger_gap": 0.0263596069149291,
+            "fingertip_max_gap": 0.09115166034797115,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317980345746455,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1606289215853365,
+            "object_top_z": 1.2060429464711853,
+            "finger_top_clearance": 0.04541402488584878,
+            "fingertip_min_top_clearance": 0.013624207465754634,
+            "object_projection_between_fingers": 0.8323313844116902,
+            "object_to_finger_line_xy": 0.0098472044329049,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048075830173985576,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7007428400399334,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2727115929720498,
+              -0.3780369293461718,
+              0.847019588302586
+            ],
+            "target_position": [
+              0.2653034911875921,
+              -0.3785922999231704,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007428890127514381,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18871885896880236,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019588302586,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532505515476018,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616569872870732,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15721549956517217,
+            "release_required_pad_clearance": 0.05308284936435366,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.194177354036939,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008038759231567383,
+            "max_z_decrease": 0.008038759231567383,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351467877610798,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008038759231567383,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107541696063583,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008038759231567383,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008038773843242801,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12100341916084285,
+              -0.43485376238822937,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12100341916084285,
+              -0.43485376238822937,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1226398645376201,
+              -0.43454404171092526,
+              0.8077748250113941
+            ],
+            "closest_button": [
+              0.12099348753690715,
+              -0.43484911322593695,
+              0.7726679444313049
+            ],
+            "closest_ee_minus_button": [
+              0.001646377000712948,
+              0.00030507151501169005,
+              0.03510688058008915
+            ],
+            "button_min_z_position": [
+              0.12098910659551616,
+              -0.4348482787609101,
+              0.7687700986862183
+            ],
+            "min_active_finger_to_button": 0.14462530454939174,
+            "closest_active_finger": [
+              -0.005289264023303986,
+              -0.496391236782074,
+              0.810641884803772
+            ],
+            "closest_active_finger_button": [
+              0.1210032925009727,
+              -0.434851884841919,
+              0.7762969136238098
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12629255652427668,
+              -0.061539351940154974,
+              0.03434497117996216
+            ],
+            "min_contact_pad_to_button": 0.02107541696063583,
+            "closest_contact_pad": [
+              0.12098910659551616,
+              -0.4357256836974612,
+              0.7898272438071023
+            ],
+            "closest_contact_pad_button": [
+              0.12098910659551616,
+              -0.4348482787609101,
+              0.7687700986862183
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000877404936551085,
+              0.02105714512088408
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b6bf2f3f73e9d554ce434a4b4ef1dd5854e5a54676ddd5032977411532f9047",
+    "visual_seed": 7021584782669873390,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..18eb89b5244cae1d4007c6ca9e933e5662d12f62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_41_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24154332950868865,
+              -0.020515946787659275,
+              1.158660575000652
+            ],
+            "current_z": 1.158660575000652,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30207406759208644,
+            "gripper_z": 1.1522346441245446,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23673989931296324,
+              -0.02535497047802243,
+              1.1522346441245446
+            ],
+            "object_minus_gripper": [
+              0.0048034301957254055,
+              0.004839023690363157,
+              0.006425930876107433
+            ],
+            "object_to_gripper_xy": 0.00681829098243119,
+            "object_to_gripper_z": 0.006425930876107433,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24154332950868865,
+              -0.04415524177676641,
+              1.158660575000652
+            ],
+            "finger_b": [
+              0.23029908799742155,
+              -0.020515946787659275,
+              1.158660575000652
+            ],
+            "finger_midpoint": [
+              0.2359212087530551,
+              -0.032335594282212846,
+              1.158660575000652
+            ],
+            "object_minus_finger_midpoint": [
+              0.005622120755633536,
+              0.01181964749455357,
+              0.0
+            ],
+            "finger_gap": 0.026177265608648432,
+            "fingertip_max_gap": 0.09142027772774644,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013088632804324212,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158660575000652,
+            "object_top_z": 1.204102010030406,
+            "finger_top_clearance": 0.04544143502975406,
+            "fingertip_min_top_clearance": 0.013632430508926251,
+            "object_projection_between_fingers": 0.8154934573394788,
+            "object_to_finger_line_xy": 0.01015407590645335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821013886387322,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0010172899987297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27656364573108383,
+              -0.3795833056552536,
+              0.8470191970713812
+            ],
+            "target_position": [
+              0.27009272146154023,
+              -0.3799720030462244,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006482587952655626,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856127033000576,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191970713812,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548851365109302,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553960082296204,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15361900266193373,
+            "release_required_pad_clearance": 0.05276980041148102,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5881717852680071,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008146405220031738,
+            "max_z_decrease": 0.008146405220031738,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499499437274604,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008146405220031738,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020998393750759344,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008146405220031738,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008146481442765967,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12579265236854553,
+              -0.4362334609031676,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12579265236854553,
+              -0.4362334609031676,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1252687551391199,
+              -0.43701915835399097,
+              0.8036437952233555
+            ],
+            "closest_button": [
+              0.1258212924003601,
+              -0.4362129271030425,
+              0.7686624526977539
+            ],
+            "closest_ee_minus_button": [
+              -0.0005525372612402157,
+              -0.0008062312509484748,
+              0.03498134252560159
+            ],
+            "button_min_z_position": [
+              0.1258212924003601,
+              -0.4362129271030425,
+              0.7686624526977539
+            ],
+            "min_active_finger_to_button": 0.1462276186744799,
+            "closest_active_finger": [
+              -0.015517622232437134,
+              -0.4211371839046478,
+              0.8110853433609009
+            ],
+            "closest_active_finger_button": [
+              0.12579414248466492,
+              -0.43623158335685724,
+              0.776651918888092
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14131176471710205,
+              0.015094399452209417,
+              0.03443342447280884
+            ],
+            "min_contact_pad_to_button": 0.020998393750759344,
+            "closest_contact_pad": [
+              0.1258212924003601,
+              -0.4381851815705191,
+              0.7895680201960891
+            ],
+            "closest_contact_pad_button": [
+              0.1258212924003601,
+              -0.4362129271030425,
+              0.7686624526977539
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019722544674766196,
+              0.020905567498335165
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c031d5aa75be86de79a18c288010ba95c9a6fe2e08a53bef9d61ab2e984a611",
+    "visual_seed": 5374439696783336232,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..144071c5cdd7cad23b345c1de2f88d01541832dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_42_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2481946469981944,
+              -0.023996674294178146,
+              1.1586038585178222
+            ],
+            "current_z": 1.1586038585178222,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3020172915046119,
+            "gripper_z": 1.1519144668930148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24309969684869215,
+              -0.02883265944003091,
+              1.1519144668930148
+            ],
+            "object_minus_gripper": [
+              0.005094950149502259,
+              0.004835985145852765,
+              0.006689391624807417
+            ],
+            "object_to_gripper_xy": 0.007024618805089831,
+            "object_to_gripper_z": 0.006689391624807417,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2481946469981944,
+              -0.04810090382732263,
+              1.1586038585178222
+            ],
+            "finger_b": [
+              0.23723533019458906,
+              -0.023996674294178146,
+              1.1586038585178222
+            ],
+            "finger_midpoint": [
+              0.24271498859639173,
+              -0.03604878906075039,
+              1.1586038585178222
+            ],
+            "object_minus_finger_midpoint": [
+              0.005479658401802673,
+              0.012052114766572242,
+              0.0
+            ],
+            "finger_gap": 0.026478680219910906,
+            "fingertip_max_gap": 0.09102699638595202,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013239340109955455,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1586038585178222,
+            "object_top_z": 1.2039848320209514,
+            "finger_top_clearance": 0.045380973503129196,
+            "fingertip_min_top_clearance": 0.013614292050938791,
+            "object_projection_between_fingers": 0.8286933219871774,
+            "object_to_finger_line_xy": 0.009976550400797852,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801349819297601,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6568552789724584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2716206815974137,
+              -0.3827883192469902,
+              0.84701997832931
+            ],
+            "target_position": [
+              0.2630675232750449,
+              -0.3839518222795035,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008631932378915762,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19030626051752172,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701997832931,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552837065079814,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085718575646702,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15828650039329015,
+            "release_required_pad_clearance": 0.052859287823351,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7589822530921022,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008127272129058838,
+            "max_z_decrease": 0.008127272129058838,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506993971976479,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008127272129058838,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02118157996097557,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008127272129058838,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008127315564530451,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11876744776964183,
+              -0.44021329283714294,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11876744776964183,
+              -0.44021329283714294,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11914089277364981,
+              -0.4420738779840716,
+              0.8036992640492585
+            ],
+            "closest_button": [
+              0.11878504604101178,
+              -0.44019338488578796,
+              0.7686815857887268
+            ],
+            "closest_ee_minus_button": [
+              0.0003558467326380266,
+              -0.001880493098283642,
+              0.035017678260531704
+            ],
+            "button_min_z_position": [
+              0.11878504604101178,
+              -0.44019338488578796,
+              0.7686815857887268
+            ],
+            "min_active_finger_to_button": 0.14521964220477515,
+            "closest_active_finger": [
+              -0.021392568945884705,
+              -0.4241291880607605,
+              0.8112296462059021
+            ],
+            "closest_active_finger_button": [
+              0.11876792460680005,
+              -0.4402118921279907,
+              0.7768039703369141
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14016049355268476,
+              0.016082704067230225,
+              0.03442567586898804
+            ],
+            "min_contact_pad_to_button": 0.02118157996097557,
+            "closest_contact_pad": [
+              0.11878504604101178,
+              -0.44342330402932684,
+              0.7896154567152756
+            ],
+            "closest_contact_pad_button": [
+              0.11878504604101178,
+              -0.44019338488578796,
+              0.7686815857887268
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003229919143538873,
+              0.020933870926548748
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "226eb558d7b0fcf48d231f43345a48158813812b556e28e89fc03a722c5888b0",
+    "visual_seed": 5332774009892189906,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..537ae2bc9b2472ac0cce22404b6c8b47cd75bf11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_43_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2479899184607422,
+              -0.021762709293649055,
+              1.1603806423044085
+            ],
+            "current_z": 1.1603806423044085,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30379413489584295,
+            "gripper_z": 1.1537036131064347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24310216668215556,
+              -0.026575678179357284,
+              1.1537036131064347
+            ],
+            "object_minus_gripper": [
+              0.004887751778586635,
+              0.00481296888570823,
+              0.0066770291979738605
+            ],
+            "object_to_gripper_xy": 0.0068596491851895995,
+            "object_to_gripper_z": 0.0066770291979738605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2479899184607422,
+              -0.045589462670902386,
+              1.1603806423044085
+            ],
+            "finger_b": [
+              0.2368959354756714,
+              -0.021762709293649055,
+              1.1603806423044085
+            ],
+            "finger_midpoint": [
+              0.2424429269682068,
+              -0.03367608598227572,
+              1.1603806423044085
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055469914925354025,
+              0.011913376688626666,
+              0.0
+            ],
+            "finger_gap": 0.026282896244011877,
+            "fingertip_max_gap": 0.09120808122228308,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013141448122005938,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1603806423044085,
+            "object_top_z": 1.2057777711093083,
+            "finger_top_clearance": 0.04539712880489977,
+            "fingertip_min_top_clearance": 0.013619138641469963,
+            "object_projection_between_fingers": 0.8218324739191591,
+            "object_to_finger_line_xy": 0.010057247652718298,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810404061114154,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7566566595156536,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27231493843886334,
+              -0.3789863388293249,
+              0.8470195262491135
+            ],
+            "target_position": [
+              0.2643829656444865,
+              -0.3798199585673668,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007975657607895884,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18746378134662467,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195262491135,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534275230363963,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850337986053125,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15590012777681006,
+            "release_required_pad_clearance": 0.05251689930265625,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.10467829948525607,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00811004638671875,
+            "max_z_decrease": 0.00811004638671875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506681242833271,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00811004638671875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021003818975997793,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00811004638671875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00811007776125808,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12008289247751235,
+              -0.4360814094543457,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12008289247751235,
+              -0.4360814094543457,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12133790676202699,
+              -0.43591309036324705,
+              0.8037431714685943
+            ],
+            "closest_button": [
+              0.1200919672846794,
+              -0.43606075644493103,
+              0.7686988115310669
+            ],
+            "closest_ee_minus_button": [
+              0.0012459394773475935,
+              0.00014766608168398365,
+              0.035044359937527414
+            ],
+            "button_min_z_position": [
+              0.1200919672846794,
+              -0.43606075644493103,
+              0.7686988115310669
+            ],
+            "min_active_finger_to_button": 0.14465281723406068,
+            "closest_active_finger": [
+              -0.01964879035949707,
+              -0.4216923117637634,
+              0.810747504234314
+            ],
+            "closest_active_finger_button": [
+              0.12008457630872726,
+              -0.43607810139656067,
+              0.7762210965156555
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13973336666822433,
+              0.014385789632797241,
+              0.03452640771865845
+            ],
+            "min_contact_pad_to_button": 0.021003818975997793,
+            "closest_contact_pad": [
+              0.1200919672846794,
+              -0.4369325082714465,
+              0.7896845319220721
+            ],
+            "closest_contact_pad_button": [
+              0.1200919672846794,
+              -0.43606075644493103,
+              0.7686988115310669
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008717518265154434,
+              0.020985720391005214
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bc9246dc3984be3eaaa16e296de9a1bc0bc869a79ebd5906b25e6c048f55219e",
+    "visual_seed": 7451039894256312729,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d40f56f44b62dabdb62449b132a204496d46e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_44_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24510948227753848,
+              -0.028160092842506725,
+              1.1568358414091486
+            ],
+            "current_z": 1.1568358414091486,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3002492743959383,
+            "gripper_z": 1.1501394132790772,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24027038480008442,
+              -0.03275297058836166,
+              1.1501394132790772
+            ],
+            "object_minus_gripper": [
+              0.004839097477454063,
+              0.004592877745854932,
+              0.00669642813007143
+            ],
+            "object_to_gripper_xy": 0.006671685722864331,
+            "object_to_gripper_z": 0.00669642813007143,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24510948227753848,
+              -0.05221045689442699,
+              1.1568358414091486
+            ],
+            "finger_b": [
+              0.23468252181293442,
+              -0.028160092842506725,
+              1.1568358414091486
+            ],
+            "finger_midpoint": [
+              0.23989600204523645,
+              -0.04018527486846686,
+              1.1568358414091486
+            ],
+            "object_minus_finger_midpoint": [
+              0.005213480232302031,
+              0.012025182025960136,
+              0.0
+            ],
+            "finger_gap": 0.026213384282848997,
+            "fingertip_max_gap": 0.09149119876768236,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0131066921414245,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1568358414091486,
+            "object_top_z": 1.2022328755907838,
+            "finger_top_clearance": 0.04539703418163521,
+            "fingertip_min_top_clearance": 0.013619110254490563,
+            "object_projection_between_fingers": 0.8417771273188733,
+            "object_to_finger_line_xy": 0.0095665707419848,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824559938384118,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0708710830610382,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27214029282802743,
+              -0.37970826513132283,
+              0.8470186554154286
+            ],
+            "target_position": [
+              0.264702823395157,
+              -0.3805829727158352,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007488729192812725,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.184818556695962,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470186554154286,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591765239497794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08837528852058758,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520721663043196,
+            "release_required_pad_clearance": 0.054187644260293794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.38770043329469,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008102595806121826,
+            "max_z_decrease": 0.008102595806121826,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507930128552811,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008102595806121826,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021168396716453697,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008102595806121826,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00810262219221586,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12040274590253829,
+              -0.43684443831443787,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12040274590253829,
+              -0.43684443831443787,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11986585958028051,
+              -0.43868535651061347,
+              0.803732033293782
+            ],
+            "closest_button": [
+              0.12041462212800977,
+              -0.43682751059532166,
+              0.7687062621116638
+            ],
+            "closest_ee_minus_button": [
+              -0.000548762547729259,
+              -0.0018578459152918114,
+              0.03502577118211814
+            ],
+            "button_min_z_position": [
+              0.12041462212800977,
+              -0.43682751059532166,
+              0.7687062621116638
+            ],
+            "min_active_finger_to_button": 0.14616092674467018,
+            "closest_active_finger": [
+              -0.02096843719482422,
+              -0.42316293716430664,
+              0.8107195496559143
+            ],
+            "closest_active_finger_button": [
+              0.12040375918149947,
+              -0.43684184551239014,
+              0.7762259840965271
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1413721963763237,
+              0.013678908348083496,
+              0.03449356555938721
+            ],
+            "min_contact_pad_to_button": 0.021168396716453697,
+            "closest_contact_pad": [
+              0.12041462212800977,
+              -0.4398195251971036,
+              0.7896621411952979
+            ],
+            "closest_contact_pad_button": [
+              0.12041462212800977,
+              -0.43682751059532166,
+              0.7687062621116638
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002992014601781945,
+              0.020955879083634055
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9f6ae659570b41f7d1f39be22813152a7789857e9e0212903212faea8d458402",
+    "visual_seed": 4169312167565874291,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a859bfbe7a4aeb9672d4480ff53432c6c52bb1db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_45_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24161115027022456,
+              -0.020433200674392138,
+              1.1604365526415021
+            ],
+            "current_z": 1.1604365526415021,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.30385010483758124,
+            "gripper_z": 1.1539650441091294,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23671750331196326,
+              -0.025273996100718052,
+              1.1539650441091294
+            ],
+            "object_minus_gripper": [
+              0.004893646958261305,
+              0.004840795426325914,
+              0.006471508532372772
+            ],
+            "object_to_gripper_xy": 0.0068833916721074365,
+            "object_to_gripper_z": 0.006471508532372772,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24161115027022456,
+              -0.044252919392442344,
+              1.1604365526415021
+            ],
+            "finger_b": [
+              0.23048470588385195,
+              -0.020433200674392138,
+              1.1604365526415021
+            ],
+            "finger_midpoint": [
+              0.23604792807703825,
+              -0.03234306003341724,
+              1.1604365526415021
+            ],
+            "object_minus_finger_midpoint": [
+              0.005563222193186307,
+              0.011909859359025103,
+              0.0
+            ],
+            "finger_gap": 0.026290240860252195,
+            "fingertip_max_gap": 0.09102455893122197,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013145120430126098,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1604365526415021,
+            "object_top_z": 1.2058063866084963,
+            "finger_top_clearance": 0.04536983396699412,
+            "fingertip_min_top_clearance": 0.013610950190098236,
+            "object_projection_between_fingers": 0.820888416620347,
+            "object_to_finger_line_xy": 0.01008088046907617,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048012279465610985,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6385570063117544,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2728819428721697,
+              -0.38296554373709685,
+              0.8470196894509828
+            ],
+            "target_position": [
+              0.2664182976404541,
+              -0.38331774341954455,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064732336816923424,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18442704840312052,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196894509828,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544926096525778,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851476662250565,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15258759125414925,
+            "release_required_pad_clearance": 0.05257383311252825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21306228362411117,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008179962635040283,
+            "max_z_decrease": 0.008179962635040283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499885218083197,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008179962635040283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020921122584755304,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008179962635040283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008180046373117918,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12211822718381878,
+              -0.4395791888236999,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12211822718381878,
+              -0.4395791888236999,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12112578093192358,
+              -0.43907801882097186,
+              0.8036094639310415
+            ],
+            "closest_button": [
+              0.12214943021535869,
+              -0.4395592808723449,
+              0.7686288952827454
+            ],
+            "closest_ee_minus_button": [
+              -0.0010236492834351102,
+              0.0004812620513730548,
+              0.03498056864829613
+            ],
+            "button_min_z_position": [
+              0.12214943021535869,
+              -0.4395592808723449,
+              0.7686288952827454
+            ],
+            "min_active_finger_to_button": 0.1465508426779714,
+            "closest_active_finger": [
+              -0.00588785856962204,
+              -0.5020946264266968,
+              0.8110747933387756
+            ],
+            "closest_active_finger_button": [
+              0.12212120741605755,
+              -0.43957680463790894,
+              0.7766894698143005
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12800906598567957,
+              -0.06251782178878784,
+              0.0343853235244751
+            ],
+            "min_contact_pad_to_button": 0.020921122584755304,
+            "closest_contact_pad": [
+              0.12214943021535869,
+              -0.44026214414282416,
+              0.7895382078833396
+            ],
+            "closest_contact_pad_button": [
+              0.12214943021535869,
+              -0.4395592808723449,
+              0.7686288952827454
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007028632704792481,
+              0.020909312600594254
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07538b5ae7492b6d4f1046c6dbc49635859b6b38d77562e674f784d0413dbfbe",
+    "visual_seed": 5884345114987397557,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69201fe92fea211e9007ff2b03baf18c396bb674
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_46_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24264745801584542,
+              -0.022725441649024666,
+              1.158123623260695
+            ],
+            "current_z": 1.158123623260695,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3015371754567743,
+            "gripper_z": 1.1516030490823073,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23774938663774717,
+              -0.027503800747283952,
+              1.1516030490823073
+            ],
+            "object_minus_gripper": [
+              0.004898071378098251,
+              0.0047783590982592855,
+              0.006520574178387806
+            ],
+            "object_to_gripper_xy": 0.006842793208687706,
+            "object_to_gripper_z": 0.006520574178387806,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24264745801584542,
+              -0.04670742741118032,
+              1.158123623260695
+            ],
+            "finger_b": [
+              0.23179587597680928,
+              -0.022725441649024666,
+              1.158123623260695
+            ],
+            "finger_midpoint": [
+              0.23722166699632735,
+              -0.034716434530102494,
+              1.158123623260695
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425791019518067,
+              0.011990992881077828,
+              0.0
+            ],
+            "finger_gap": 0.026322850792537045,
+            "fingertip_max_gap": 0.09111633057065191,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013161425396268522,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158123623260695,
+            "object_top_z": 1.2035024989302476,
+            "finger_top_clearance": 0.045378875669552565,
+            "fingertip_min_top_clearance": 0.013613662700865803,
+            "object_projection_between_fingers": 0.8300503509638708,
+            "object_to_finger_line_xy": 0.00988656160414098,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04805816528532596,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7032520210303379,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2699217119542853,
+              -0.3817709470046584,
+              0.8470176711801434
+            ],
+            "target_position": [
+              0.2633393608350256,
+              -0.3821624098100565,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006593981300036387,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18468994133671027,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470176711801434,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537173227086053,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597134302335606,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15305573972661565,
+            "release_required_pad_clearance": 0.05298567151167803,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9969861534485652,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00810462236404419,
+            "max_z_decrease": 0.00810462236404419,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505733311047638,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00810462236404419,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020994351574409587,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00810462236404419,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008104649584349867,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11903928965330117,
+              -0.4384238719940185,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11903928965330117,
+              -0.4384238719940185,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11959964623570998,
+              -0.43794504035736453,
+              0.8037542029688658
+            ],
+            "closest_button": [
+              0.1190469712018966,
+              -0.4384043216705322,
+              0.7687042355537415
+            ],
+            "closest_ee_minus_button": [
+              0.0005526750338133851,
+              0.00045928131316769205,
+              0.03504996741512434
+            ],
+            "button_min_z_position": [
+              0.1190469712018966,
+              -0.4384043216705322,
+              0.7687042355537415
+            ],
+            "min_active_finger_to_button": 0.14521695534931212,
+            "closest_active_finger": [
+              -0.007338523864746094,
+              -0.5011272430419922,
+              0.8112331032752991
+            ],
+            "closest_active_finger_button": [
+              0.11903827637434,
+              -0.4384228587150574,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263768002390861,
+              -0.06270438432693481,
+              0.03442424535751343
+            ],
+            "min_contact_pad_to_button": 0.020994351574409587,
+            "closest_contact_pad": [
+              0.1190469712018966,
+              -0.43911352479262267,
+              0.7896866050329383
+            ],
+            "closest_contact_pad_button": [
+              0.1190469712018966,
+              -0.4384043216705322,
+              0.7687042355537415
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007092031220904405,
+              0.02098236947919685
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "15fedd2fb6c3e4c1a382e1f895f964663d3d2960c9ef6d3b2b7a5c2566a0603b",
+    "visual_seed": 7333788905407908052,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa9b1406b7f3b43562cba5803e2b703a33210141
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_47_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24363666593987976,
+              -0.025025942802184915,
+              1.1585253236666258
+            ],
+            "current_z": 1.1585253236666258,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3019388162580602,
+            "gripper_z": 1.1520319196225235,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23845639410386893,
+              -0.029886281301229264,
+              1.1520319196225235
+            ],
+            "object_minus_gripper": [
+              0.00518027183601083,
+              0.00486033849904435,
+              0.006493404044102258
+            ],
+            "object_to_gripper_xy": 0.0071033869822965225,
+            "object_to_gripper_z": 0.006493404044102258,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24363666593987976,
+              -0.04915374033269717,
+              1.1585253236666258
+            ],
+            "finger_b": [
+              0.23261915854261878,
+              -0.025025942802184915,
+              1.1585253236666258
+            ],
+            "finger_midpoint": [
+              0.23812791224124927,
+              -0.037089841567441044,
+              1.1585253236666258
+            ],
+            "object_minus_finger_midpoint": [
+              0.005508753698630492,
+              0.01206389876525613,
+              0.0
+            ],
+            "finger_gap": 0.026524254615768073,
+            "fingertip_max_gap": 0.09108315573729775,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013262127307884036,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1585253236666258,
+            "object_top_z": 1.2039155368511223,
+            "finger_top_clearance": 0.04539021318449654,
+            "fingertip_min_top_clearance": 0.013617063955348962,
+            "object_projection_between_fingers": 0.8274637617099417,
+            "object_to_finger_line_xy": 0.01002207947491218,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804157786864888,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7364219503971513,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27302978348368323,
+              -0.3823017843606551,
+              0.8470195446208788
+            ],
+            "target_position": [
+              0.2654215092588463,
+              -0.3829659734457446,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007637210473796725,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18760646817201004,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195446208788,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514844239715725,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496711526436172,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15654510315111117,
+            "release_required_pad_clearance": 0.05248355763218086,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03954796904235834,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00807732343673706,
+            "max_z_decrease": 0.00807732343673706,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035137543190947966,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00807732343673706,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021006394441326792,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00807732343673706,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008077336985934878,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12112143635749816,
+              -0.439227432012558,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12112143635749816,
+              -0.439227432012558,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11978924563809587,
+              -0.4377555478437283,
+              0.8073498106586479
+            ],
+            "closest_button": [
+              0.12111172825098035,
+              -0.4392210245132446,
+              0.772267758846283
+            ],
+            "closest_ee_minus_button": [
+              -0.001322482612884479,
+              0.0014654766695162968,
+              0.0350820518123649
+            ],
+            "button_min_z_position": [
+              0.12112542986869809,
+              -0.43921318650245667,
+              0.7687315344810486
+            ],
+            "min_active_finger_to_button": 0.1467363660413969,
+            "closest_active_finger": [
+              -0.007275037467479706,
+              -0.5013522505760193,
+              0.8107055425643921
+            ],
+            "closest_active_finger_button": [
+              0.12112286686897275,
+              -0.43922740221023554,
+              0.7762665748596191
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12839790433645246,
+              -0.06212484836578375,
+              0.03443896770477295
+            ],
+            "min_contact_pad_to_button": 0.021006394441326792,
+            "closest_contact_pad": [
+              0.12112542986869809,
+              -0.43921318650245667,
+              0.7897379289223754
+            ],
+            "closest_contact_pad_button": [
+              0.12112542986869809,
+              -0.43921318650245667,
+              0.7687315344810486
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021006394441326792
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aea3ed0e1319139e884c0f497e0c7dd5f83aa759ebc8e657c8ea63a918776a25",
+    "visual_seed": 2111262416236787027,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bac23aabe0a8a5517f37d388e250a245f8ae18f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_48_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24224187720100473,
+              -0.028144695368060947,
+              1.1605586750711814
+            ],
+            "current_z": 1.1605586750711814,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30397210805797104,
+            "gripper_z": 1.1540384737992908,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23743750866486432,
+              -0.03298208305590433,
+              1.1540384737992908
+            ],
+            "object_minus_gripper": [
+              0.004804368536140413,
+              0.004837387687843385,
+              0.006520201271890569
+            ],
+            "object_to_gripper_xy": 0.006817791187294808,
+            "object_to_gripper_z": 0.006520201271890569,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24224187720100473,
+              -0.051857036823789025,
+              1.1605586750711814
+            ],
+            "finger_b": [
+              0.23111131489395073,
+              -0.028144695368060947,
+              1.1605586750711814
+            ],
+            "finger_midpoint": [
+              0.23667659604747773,
+              -0.040000866095924986,
+              1.1605586750711814
+            ],
+            "object_minus_finger_midpoint": [
+              0.005565281153527002,
+              0.011856170727864039,
+              0.0
+            ],
+            "finger_gap": 0.02619474288066695,
+            "fingertip_max_gap": 0.0911242659044895,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013097371440333475,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1605586750711814,
+            "object_top_z": 1.2060147623173365,
+            "finger_top_clearance": 0.04545608724615513,
+            "fingertip_min_top_clearance": 0.013636826173846572,
+            "object_projection_between_fingers": 0.8194464921810539,
+            "object_to_finger_line_xy": 0.010075750513051067,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806213295224475,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5058406812584824,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27583429126134884,
+              -0.3826611900931597,
+              0.8470196873900937
+            ],
+            "target_position": [
+              0.269413553425399,
+              -0.3829960848872176,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006429465676172838,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854108340684449,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196873900937,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533098679958675,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509021852669986,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538101173373786,
+            "release_required_pad_clearance": 0.05254510926334993,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.15825863721292677,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008207619190216064,
+            "max_z_decrease": 0.008207619190216064,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035037947060382026,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008207619190216064,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021086270207139875,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008207619190216064,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008207702117619805,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1251134723424911,
+              -0.43925753235816956,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1251134723424911,
+              -0.43925753235816956,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12357856573423256,
+              -0.44082387178792076,
+              0.8036384711371478
+            ],
+            "closest_button": [
+              0.12513904273509976,
+              -0.4392358064651489,
+              0.7686713337898254
+            ],
+            "closest_ee_minus_button": [
+              -0.0015604770008671998,
+              -0.0015880653227718367,
+              0.034967137347322375
+            ],
+            "button_min_z_position": [
+              0.12514241039752955,
+              -0.4392346441745758,
+              0.7686012387275696
+            ],
+            "min_active_finger_to_button": 0.14710254042037718,
+            "closest_active_finger": [
+              -0.017011970281600952,
+              -0.4232127070426941,
+              0.8109803795814514
+            ],
+            "closest_active_finger_button": [
+              0.12511330842971796,
+              -0.439257949590683,
+              0.7765985131263733
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14212527871131891,
+              0.01604524254798889,
+              0.034381866455078125
+            ],
+            "min_contact_pad_to_button": 0.021086270207139875,
+            "closest_contact_pad": [
+              0.12514241039752955,
+              -0.4421465072910514,
+              0.7894854874437534
+            ],
+            "closest_contact_pad_button": [
+              0.12514241039752955,
+              -0.4392346441745758,
+              0.7686012387275696
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029118631164756215,
+              0.020884248716183773
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7521ca836b2e4c06a7abd554b4e3d225c446ef42cf33e40e59d5087b8fc61d4c",
+    "visual_seed": 8990784135200444449,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b90242bb19e1c8300ede3419791e15d6ebd7a883
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_49_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2470880991342107,
+              -0.023934408929095104,
+              1.1595612625741742
+            ],
+            "current_z": 1.1595612625741742,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.3029747551656089,
+            "gripper_z": 1.1527442013352094,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2424968405082606,
+              -0.02867862031330684,
+              1.1527442013352094
+            ],
+            "object_minus_gripper": [
+              0.004591258625950112,
+              0.004744211384211737,
+              0.006817061238964861
+            ],
+            "object_to_gripper_xy": 0.006602060089733019,
+            "object_to_gripper_z": 0.006817061238964861,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2470880991342107,
+              -0.04749629752434245,
+              1.1595612625741742
+            ],
+            "finger_b": [
+              0.23603560081881533,
+              -0.023934408929095104,
+              1.1595612625741742
+            ],
+            "finger_midpoint": [
+              0.24156184997651303,
+              -0.035715353226718774,
+              1.1595612625741742
+            ],
+            "object_minus_finger_midpoint": [
+              0.005526249157697671,
+              0.01178094429762367,
+              0.0
+            ],
+            "finger_gap": 0.026025378252518532,
+            "fingertip_max_gap": 0.0911275016383429,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013012689126259257,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1595612625741742,
+            "object_top_z": 1.2049691740423232,
+            "finger_top_clearance": 0.04540791146814893,
+            "fingertip_min_top_clearance": 0.013622373440444679,
+            "object_projection_between_fingers": 0.8196455700005681,
+            "object_to_finger_line_xy": 0.010006299677173898,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048063750819171455,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6533330714560277,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2762901123325999,
+              -0.38282960162569574,
+              0.8470195395619091
+            ],
+            "target_position": [
+              0.27053661906571375,
+              -0.3830113027325741,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005756361703745294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18712515470774352,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195395619091,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585303726053044,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579800995075003,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542915554078081,
+            "release_required_pad_clearance": 0.052899004975375016,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8374282919389658,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0080643892288208,
+            "max_z_decrease": 0.0080643892288208,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512121390578063,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0080643892288208,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021136050864808117,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0080643892288208,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008064402427711385,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12623654305934906,
+              -0.43927276134490967,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12623654305934906,
+              -0.43927276134490967,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12623199274361963,
+              -0.4404281201118785,
+              0.803846208102344
+            ],
+            "closest_button": [
+              0.12623266875743863,
+              -0.4392586946487427,
+              0.7687444686889648
+            ],
+            "closest_ee_minus_button": [
+              -6.760138190065046e-07,
+              -0.0011694254631358092,
+              0.03510173941337913
+            ],
+            "button_min_z_position": [
+              0.12623266875743863,
+              -0.4392586946487427,
+              0.7687444686889648
+            ],
+            "min_active_finger_to_button": 0.14570922305080683,
+            "closest_active_finger": [
+              -0.01465337723493576,
+              -0.4253418445587158,
+              0.8109932541847229
+            ],
+            "closest_active_finger_button": [
+              0.12623749673366547,
+              -0.4392707347869873,
+              0.7765414714813232
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14089087396860123,
+              0.013928890228271484,
+              0.03445178270339966
+            ],
+            "min_contact_pad_to_button": 0.021136050864808117,
+            "closest_contact_pad": [
+              0.12623266875743863,
+              -0.44152125933734776,
+              0.7897590694986313
+            ],
+            "closest_contact_pad_button": [
+              0.12623266875743863,
+              -0.4392586946487427,
+              0.7687444686889648
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022625646886050843,
+              0.02101460080966644
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3434754ca5446b69207f1a4df5f8dc5acdc23027e12cc2403e25426ece5b681",
+    "visual_seed": 3140151727340105520,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d07edbbcdd4f39b61bf48ace0d737ae7f0f6b4b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_4_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24529146561970114,
+              -0.026409315891846852,
+              1.1588008309999887
+            ],
+            "current_z": 1.1588008309999887,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.302214323591423,
+            "gripper_z": 1.1522649636745625,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2405619994556168,
+              -0.031202247195634927,
+              1.1522649636745625
+            ],
+            "object_minus_gripper": [
+              0.004729466164084345,
+              0.004792931303788075,
+              0.0065358673254261035
+            ],
+            "object_to_gripper_xy": 0.006733501368534081,
+            "object_to_gripper_z": 0.0065358673254261035,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24529146561970114,
+              -0.05018200538299326,
+              1.1588008309999887
+            ],
+            "finger_b": [
+              0.23431473748129203,
+              -0.026409315891846852,
+              1.1588008309999887
+            ],
+            "finger_midpoint": [
+              0.23980310155049658,
+              -0.038295660637420056,
+              1.1588008309999887
+            ],
+            "object_minus_finger_midpoint": [
+              0.005488364069204554,
+              0.011886344745573204,
+              0.0
+            ],
+            "finger_gap": 0.026184524556825642,
+            "fingertip_max_gap": 0.09134306068355319,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013092262278412821,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1588008309999887,
+            "object_top_z": 1.2042324710224201,
+            "finger_top_clearance": 0.045431640022431496,
+            "fingertip_min_top_clearance": 0.013629492006729449,
+            "object_projection_between_fingers": 0.8242657424230124,
+            "object_to_finger_line_xy": 0.009965670718856224,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481715303417766,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8012974649407326,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2724020795254014,
+              -0.3748964738666385,
+              0.8470197412284829
+            ],
+            "target_position": [
+              0.2658818238719792,
+              -0.37515990700844315,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006525575132215221,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846970455958565,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197412284829,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535014352283968,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561294339152538,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15320017876960412,
+            "release_required_pad_clearance": 0.05280647169576269,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6561034301583453,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008093416690826416,
+            "max_z_decrease": 0.008093416690826416,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507037282965536,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008093416690826416,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02102009154225011,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008093416690826416,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008093435087775167,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12158174812793729,
+              -0.4314213693141937,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12158174812793729,
+              -0.4314213693141937,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12172214632213205,
+              -0.43103533548859196,
+              0.8037836038483812
+            ],
+            "closest_button": [
+              0.1215851008892059,
+              -0.4314044415950775,
+              0.7687154412269592
+            ],
+            "closest_ee_minus_button": [
+              0.00013704543292614169,
+              0.00036910610648555053,
+              0.03506816262142198
+            ],
+            "button_min_z_position": [
+              0.1215851008892059,
+              -0.4314044415950775,
+              0.7687154412269592
+            ],
+            "min_active_finger_to_button": 0.14559810525881894,
+            "closest_active_finger": [
+              -0.005402758717536926,
+              -0.4938054084777832,
+              0.8109448552131653
+            ],
+            "closest_active_finger_button": [
+              0.12158225476741788,
+              -0.4314194321632385,
+              0.7765703797340393
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1269850134849548,
+              -0.06238597631454468,
+              0.03437447547912598
+            ],
+            "min_contact_pad_to_button": 0.02102009154225011,
+            "closest_contact_pad": [
+              0.1215851008892059,
+              -0.43224586964607736,
+              0.789718684959287
+            ],
+            "closest_contact_pad_button": [
+              0.1215851008892059,
+              -0.4314044415950775,
+              0.7687154412269592
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008414280509998484,
+              0.02100324373232776
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6fda85df3082806a9ef68d393760979fd940493a366bc648d524fe2e017b3ed9",
+    "visual_seed": 2143836050052175762,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8f90a1291ed9f01dd1450c214a2f36d24c6de6b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_50_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24585798110887716,
+              -0.02336087140583925,
+              1.159683065896536
+            ],
+            "current_z": 1.159683065896536,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.3030965584879707,
+            "gripper_z": 1.1530089343996348,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2411008535183796,
+              -0.028222228728970997,
+              1.1530089343996348
+            ],
+            "object_minus_gripper": [
+              0.004757127590497567,
+              0.004861357323131747,
+              0.006674131496901214
+            ],
+            "object_to_gripper_xy": 0.006801695225121445,
+            "object_to_gripper_z": 0.006674131496901214,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24585798110887716,
+              -0.04704517811142374,
+              1.159683065896536
+            ],
+            "finger_b": [
+              0.23466395140645657,
+              -0.02336087140583925,
+              1.159683065896536
+            ],
+            "finger_midpoint": [
+              0.24026096625766685,
+              -0.03520302475863149,
+              1.159683065896536
+            ],
+            "object_minus_finger_midpoint": [
+              0.005597014851210308,
+              0.011842153352792241,
+              0.0
+            ],
+            "finger_gap": 0.026196425044323676,
+            "fingertip_max_gap": 0.09099363348776282,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013098212522161841,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159683065896536,
+            "object_top_z": 1.205100390929001,
+            "finger_top_clearance": 0.045417325032464984,
+            "fingertip_min_top_clearance": 0.013625197509739494,
+            "object_projection_between_fingers": 0.8174050117415701,
+            "object_to_finger_line_xy": 0.010120573028379659,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799681674388141,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6181473611945659,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2749564424106438,
+              -0.3780675243748939,
+              0.8470196826669406
+            ],
+            "target_position": [
+              0.26782428713796075,
+              -0.37874770603783753,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007164515749739526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18834744422713856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196826669406,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582504403765175,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529500739937264,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15571732999618854,
+            "release_required_pad_clearance": 0.05264750369968632,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.35387735972858464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008169174194335938,
+            "max_z_decrease": 0.008169174194335938,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504482196388903,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008169174194335938,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0210883335595333,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008169174194335938,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008169242529928974,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1235242113471031,
+              -0.43500915169715876,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1235242113471031,
+              -0.43500915169715876,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12460153650807357,
+              -0.4365821417988448,
+              0.8036319107411135
+            ],
+            "closest_button": [
+              0.12354274094104765,
+              -0.43498134613037104,
+              0.7686396837234497
+            ],
+            "closest_ee_minus_button": [
+              0.0010587955670259136,
+              -0.0016007956684737645,
+              0.0349922270176638
+            ],
+            "button_min_z_position": [
+              0.12354274094104765,
+              -0.43498134613037104,
+              0.7686396837234497
+            ],
+            "min_active_finger_to_button": 0.14466134504670308,
+            "closest_active_finger": [
+              -0.016444675624370575,
+              -0.4229832887649536,
+              0.8113016486167908
+            ],
+            "closest_active_finger_button": [
+              0.12352588772773741,
+              -0.43500688672065735,
+              0.7767968773841858
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139970563352108,
+              0.012023597955703735,
+              0.03450477123260498
+            ],
+            "min_contact_pad_to_button": 0.0210883335595333,
+            "closest_contact_pad": [
+              0.12354274094104765,
+              -0.4375470294353156,
+              0.7895713602329142
+            ],
+            "closest_contact_pad_button": [
+              0.12354274094104765,
+              -0.43498134613037104,
+              0.7686396837234497
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002565683304944555,
+              0.02093167650946448
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c43e5457547134279798d88fffd0b00ef910c51521e5e3ba8d2f70a30fe03a0f",
+    "visual_seed": 1874197974552385001,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..58d1a9b8b7d8c253a112d17f36b7076cc1993571
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_51_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2417268447261261,
+              -0.02631328519804113,
+              1.1583592548791237
+            ],
+            "current_z": 1.1583592548791237,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30177280707520293,
+            "gripper_z": 1.1518265460697503,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23688327061565445,
+              -0.03105147785423988,
+              1.1518265460697503
+            ],
+            "object_minus_gripper": [
+              0.004843574110471649,
+              0.00473819265619875,
+              0.0065327088093734
+            ],
+            "object_to_gripper_xy": 0.006775742011830659,
+            "object_to_gripper_z": 0.0065327088093734,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2417268447261261,
+              -0.050232294043956245,
+              1.1583592548791237
+            ],
+            "finger_b": [
+              0.23092174953711292,
+              -0.02631328519804113,
+              1.1583592548791237
+            ],
+            "finger_midpoint": [
+              0.2363242971316195,
+              -0.038272789620998685,
+              1.1583592548791237
+            ],
+            "object_minus_finger_midpoint": [
+              0.00540254759450659,
+              0.011959504422957554,
+              0.0
+            ],
+            "finger_gap": 0.026246315288333356,
+            "fingertip_max_gap": 0.09110941444919038,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013123157644166675,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583592548791237,
+            "object_top_z": 1.2037440752694137,
+            "finger_top_clearance": 0.045384820390290015,
+            "fingertip_min_top_clearance": 0.013615446117087038,
+            "object_projection_between_fingers": 0.8305191976681604,
+            "object_to_finger_line_xy": 0.009846988598885055,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04805470722459519,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6536860831028926,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2740563278742023,
+              -0.3785584347674741,
+              0.8470200233564139
+            ],
+            "target_position": [
+              0.2676382304588109,
+              -0.37899423381652214,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006432876125389401,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1864577433115338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200233564139,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587029547403296,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08727378573841017,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15381245000870253,
+            "release_required_pad_clearance": 0.05363689286920509,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.28350610544246,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008127808570861816,
+            "max_z_decrease": 0.008127808570861816,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503047824397328,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008127808570861816,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02100195407161314,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008127808570861816,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008127858126903864,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12333815544843675,
+              -0.43525570631027216,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12333815544843675,
+              -0.43525570631027216,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12399086362728848,
+              -0.43560471435807574,
+              0.803703773077665
+            ],
+            "closest_button": [
+              0.12335465103387833,
+              -0.43523260951042175,
+              0.7686810493469238
+            ],
+            "closest_ee_minus_button": [
+              0.0006362125934101515,
+              -0.00037210484765398677,
+              0.03502272373074122
+            ],
+            "button_min_z_position": [
+              0.12335465103387833,
+              -0.43523260951042175,
+              0.7686810493469238
+            ],
+            "min_active_finger_to_button": 0.1451327859871375,
+            "closest_active_finger": [
+              -0.016777783632278442,
+              -0.4196288287639618,
+              0.8111932873725891
+            ],
+            "closest_active_finger_button": [
+              0.12334293872117996,
+              -0.43525165319442743,
+              0.7767602205276489
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1401207223534584,
+              0.015622824430465643,
+              0.034433066844940186
+            ],
+            "min_contact_pad_to_button": 0.02100195407161314,
+            "closest_contact_pad": [
+              0.12335465103387833,
+              -0.4367794737505227,
+              0.7896259600855459
+            ],
+            "closest_contact_pad_button": [
+              0.12335465103387833,
+              -0.43523260951042175,
+              0.7686810493469238
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015468642401009203,
+              0.020944910738622036
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3af1dfef83868aae2363cdaec5829229fa5a16082250cb54d9cd25045cc14803",
+    "visual_seed": 8186441898195337672,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d64301061956f1edd87e9ff047490a077b7311e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_52_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24212479143374777,
+              -0.01953941154315637,
+              1.1601117735849948
+            ],
+            "current_z": 1.1601117735849948,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.30352526617642916,
+            "gripper_z": 1.1537181071285567,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23706346475644863,
+              -0.02439176738865416,
+              1.1537181071285567
+            ],
+            "object_minus_gripper": [
+              0.005061326677299138,
+              0.004852355845497789,
+              0.00639366645643813
+            ],
+            "object_to_gripper_xy": 0.007011589333787062,
+            "object_to_gripper_z": 0.00639366645643813,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24212479143374777,
+              -0.04361640179123219,
+              1.1601117735849948
+            ],
+            "finger_b": [
+              0.2311446596641813,
+              -0.01953941154315637,
+              1.1601117735849948
+            ],
+            "finger_midpoint": [
+              0.23663472554896453,
+              -0.03157790666719428,
+              1.1601117735849948
+            ],
+            "object_minus_finger_midpoint": [
+              0.005490065884783235,
+              0.012038495124037912,
+              0.0
+            ],
+            "finger_gap": 0.026462516000618327,
+            "fingertip_max_gap": 0.09111837727280558,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013231258000309165,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1601117735849948,
+            "object_top_z": 1.2054800390145894,
+            "finger_top_clearance": 0.0453682654295946,
+            "fingertip_min_top_clearance": 0.01361047962887838,
+            "object_projection_between_fingers": 0.8278318405342384,
+            "object_to_finger_line_xy": 0.009990301962680428,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048059188636402794,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7071450104207437,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27900875280188214,
+              -0.3749755662800065,
+              0.8470195217513637
+            ],
+            "target_position": [
+              0.2702135293933349,
+              -0.37609114417411477,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008865690545246935,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18775330481769775,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195217513637,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525889597864921,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548158293807535,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15640426383697936,
+            "release_required_pad_clearance": 0.05274079146903768,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5322885982226204,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008125543594360352,
+            "max_z_decrease": 0.008125543594360352,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506285246118549,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008125543594360352,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020981337242107927,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008125543594360352,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008125584642146801,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12591345608234406,
+              -0.43235260248184204,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12591345608234406,
+              -0.43235260248184204,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12736396701878655,
+              -0.4322266823012006,
+              0.8037165292356173
+            ],
+            "closest_button": [
+              0.12592634558677673,
+              -0.4323302209377288,
+              0.7686833143234253
+            ],
+            "closest_ee_minus_button": [
+              0.0014376214320098168,
+              0.00010353863652823314,
+              0.03503321491219202
+            ],
+            "button_min_z_position": [
+              0.12592634558677673,
+              -0.4323302209377288,
+              0.7686833143234253
+            ],
+            "min_active_finger_to_button": 0.1444260452371056,
+            "closest_active_finger": [
+              -0.013588719069957733,
+              -0.4178538918495178,
+              0.8112421631813049
+            ],
+            "closest_active_finger_button": [
+              0.12591636180877686,
+              -0.43234959244728083,
+              0.7767879962921143
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395050808787346,
+              0.014495700597763006,
+              0.034454166889190674
+            ],
+            "min_contact_pad_to_button": 0.020981337242107927,
+            "closest_contact_pad": [
+              0.12592634558677673,
+              -0.43325881657973364,
+              0.7896440925198739
+            ],
+            "closest_contact_pad_button": [
+              0.12592634558677673,
+              -0.4323302209377288,
+              0.7686833143234253
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009285956420048147,
+              0.020960778196448593
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48fbe26168f8612347155908f7a046a7a1d74371d32c8f80e60a01f16e26c8c1",
+    "visual_seed": 3329211258935862593,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db4f1677de498a49d91b0354ab4664750d3c2a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_53_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2498965099633425,
+              -0.02071754087477217,
+              1.1605166101626931
+            ],
+            "current_z": 1.1605166101626931,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.303930221963417,
+            "gripper_z": 1.1535977712237333,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2451506114810705,
+              -0.025409411290801612,
+              1.1535977712237333
+            ],
+            "object_minus_gripper": [
+              0.0047458984822719985,
+              0.004691870416029441,
+              0.006918838938959837
+            ],
+            "object_to_gripper_xy": 0.006673619737806757,
+            "object_to_gripper_z": 0.006918838938959837,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2498965099633425,
+              -0.04453264573988709,
+              1.1605166101626931
+            ],
+            "finger_b": [
+              0.23908193024515859,
+              -0.02071754087477217,
+              1.1605166101626931
+            ],
+            "finger_midpoint": [
+              0.24448922010425056,
+              -0.03262509330732963,
+              1.1605166101626931
+            ],
+            "object_minus_finger_midpoint": [
+              0.005407289859091946,
+              0.011907552432557457,
+              0.0
+            ],
+            "finger_gap": 0.02615557979126778,
+            "fingertip_max_gap": 0.09110179453790629,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013077789895633879,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1605166101626931,
+            "object_top_z": 1.2058807466284605,
+            "finger_top_clearance": 0.04536413646576731,
+            "fingertip_min_top_clearance": 0.013609240939730193,
+            "object_projection_between_fingers": 0.8290415428941682,
+            "object_to_finger_line_xy": 0.009846860674320826,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04805089726895315,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8048034455713605,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27408532987429113,
+              -0.37510765106441346,
+              0.8470195150935232
+            ],
+            "target_position": [
+              0.2654425340638615,
+              -0.37625214832402554,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008718244857655688,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18732997316954292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195150935232,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563234679288303,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08654336978346734,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15514839666732239,
+            "release_required_pad_clearance": 0.05327168489173367,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5621907900109075,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007996916770935059,
+            "max_z_decrease": 0.007996916770935059,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035104537759086625,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007996916770935059,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021151387303247365,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007996916770935059,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007996944509400986,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12114246189594269,
+              -0.43251359462738037,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12114246189594269,
+              -0.43251359462738037,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12134705544945418,
+              -0.4333505287715441,
+              0.8075684927371102
+            ],
+            "closest_button": [
+              0.12113257497549058,
+              -0.4325086772441864,
+              0.7724747061729431
+            ],
+            "closest_ee_minus_button": [
+              0.0002144804739635936,
+              -0.0008418515273577176,
+              0.03509378656416706
+            ],
+            "button_min_z_position": [
+              0.12112201005220415,
+              -0.43250855803489685,
+              0.7688119411468506
+            ],
+            "min_active_finger_to_button": 0.145897663531939,
+            "closest_active_finger": [
+              -0.019813381135463715,
+              -0.41738125681877136,
+              0.8108020424842834
+            ],
+            "closest_active_finger_button": [
+              0.12114305794239044,
+              -0.4325116276741028,
+              0.7763276696205139
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14095643907785416,
+              0.015130370855331421,
+              0.03447437286376953
+            ],
+            "min_contact_pad_to_button": 0.021151387303247365,
+            "closest_contact_pad": [
+              0.12112201005220415,
+              -0.4344314825493244,
+              0.7898757381968553
+            ],
+            "closest_contact_pad_button": [
+              0.12112201005220415,
+              -0.43250855803489685,
+              0.7688119411468506
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019229245144275486,
+              0.021063797050004718
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a3e5575d9ff93104fa13f92bb5bfbd2076177f5908aedfbdc5536d20bbce3cb",
+    "visual_seed": 4386805787405713053,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e1eb028289b670a6cd6c8a204e7aa0625076d05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_54_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24904250582937604,
+              -0.02446221232367121,
+              1.1581424611846904
+            ],
+            "current_z": 1.1581424611846904,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.3015560729854144,
+            "gripper_z": 1.1515002522806141,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24427829387801886,
+              -0.029303456102722975,
+              1.1515002522806141
+            ],
+            "object_minus_gripper": [
+              0.004764211951357178,
+              0.004841243779051766,
+              0.006642208904076297
+            ],
+            "object_to_gripper_xy": 0.00679230129232074,
+            "object_to_gripper_z": 0.006642208904076297,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24904250582937604,
+              -0.04818431302712056,
+              1.1581424611846904
+            ],
+            "finger_b": [
+              0.2378876032624774,
+              -0.02446221232367121,
+              1.1581424611846904
+            ],
+            "finger_midpoint": [
+              0.2434650545459267,
+              -0.03632326267539589,
+              1.1581424611846904
+            ],
+            "object_minus_finger_midpoint": [
+              0.005577451283449331,
+              0.011861050351724679,
+              0.0
+            ],
+            "finger_gap": 0.026213925937592676,
+            "fingertip_max_gap": 0.09157520979420813,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013106962968796345,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1581424611846904,
+            "object_top_z": 1.203598117766512,
+            "finger_top_clearance": 0.0454556565818216,
+            "fingertip_min_top_clearance": 0.013636696974546513,
+            "object_projection_between_fingers": 0.818921275638201,
+            "object_to_finger_line_xy": 0.010094547556863814,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828760489710407,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9903824616019645,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27128908173558486,
+              -0.38091036602436157,
+              0.8470196171775302
+            ],
+            "target_position": [
+              0.2647422450096088,
+              -0.3814264437250277,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006567146055153163,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18579756946517176,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196171775302,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574241729532753,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867626006675493,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15330682351163272,
+            "release_required_pad_clearance": 0.05338130033377465,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.77822912928817,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00809013843536377,
+            "max_z_decrease": 0.00809013843536377,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035109484458414164,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00809013843536377,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021211635541397336,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00809013843536377,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008090157948092033,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1204421743750572,
+              -0.4376879036426545,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1204421743750572,
+              -0.4376879036426545,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12034009259486023,
+              -0.4395145938916509,
+              0.803779623450379
+            ],
+            "closest_button": [
+              0.12044896185398099,
+              -0.4376714825630188,
+              0.7687187194824219
+            ],
+            "closest_ee_minus_button": [
+              -0.00010886925912076406,
+              -0.0018431113286320744,
+              0.035060903967957135
+            ],
+            "button_min_z_position": [
+              0.12044896185398099,
+              -0.4376714825630188,
+              0.7687187194824219
+            ],
+            "min_active_finger_to_button": 0.1456977126282,
+            "closest_active_finger": [
+              -0.02027774602174759,
+              -0.4222056269645691,
+              0.8106921911239624
+            ],
+            "closest_active_finger_button": [
+              0.12044268101453778,
+              -0.4376859664916992,
+              0.7762546539306641
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14072042703628537,
+              0.015480339527130127,
+              0.03443753719329834
+            ],
+            "min_contact_pad_to_button": 0.021211635541397336,
+            "closest_contact_pad": [
+              0.12044896185398099,
+              -0.4408060570433065,
+              0.7896974688533591
+            ],
+            "closest_contact_pad_button": [
+              0.12044896185398099,
+              -0.4376714825630188,
+              0.7687187194824219
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031345744802876996,
+              0.020978749370937244
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a024f308bf099a5fc05b16cb64ecf3827d09faff3cbe4e8085f3f8d8745b55d",
+    "visual_seed": 7117134304515330949,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f05e134c8294538830cdcb6d1ea0c4a20a5f980
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_55_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24993701308405575,
+              -0.0205914241028866,
+              1.159853756640753
+            ],
+            "current_z": 1.159853756640753,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.30326736844147695,
+            "gripper_z": 1.1529506048687868,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24527329141587362,
+              -0.025328958246850497,
+              1.1529506048687868
+            ],
+            "object_minus_gripper": [
+              0.00466372166818213,
+              0.004737534143963898,
+              0.0069031517719662094
+            ],
+            "object_to_gripper_xy": 0.006647896627016342,
+            "object_to_gripper_z": 0.0069031517719662094,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24993701308405575,
+              -0.044296895284359206,
+              1.159853756640753
+            ],
+            "finger_b": [
+              0.23898390188838692,
+              -0.0205914241028866,
+              1.159853756640753
+            ],
+            "finger_midpoint": [
+              0.24446045748622133,
+              -0.0324441596936229,
+              1.159853756640753
+            ],
+            "object_minus_finger_midpoint": [
+              0.005476555597834415,
+              0.011852735590736303,
+              0.0
+            ],
+            "finger_gap": 0.026113598158819747,
+            "fingertip_max_gap": 0.09101473979748495,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013056799079409874,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159853756640753,
+            "object_top_z": 1.205209801067268,
+            "finger_top_clearance": 0.045356044426515085,
+            "fingertip_min_top_clearance": 0.013606813327954492,
+            "object_projection_between_fingers": 0.8240693287827887,
+            "object_to_finger_line_xy": 0.009943044241442359,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800736989874248,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6756702386500588,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2684356482710323,
+              -0.3804013673003419,
+              0.8470195089268149
+            ],
+            "target_position": [
+              0.26243698721649966,
+              -0.3803432233272016,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00599894283759888,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18561221092317798,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195089268149,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533212584840408,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15413975482549036,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008096158504486084,
+            "max_z_decrease": 0.008096158504486084,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035103734695524885,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008096158504486084,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02097403760292036,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008096158504486084,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008096183210078144,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1181369125843048,
+              -0.43660467863082886,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1181369125843048,
+              -0.43660467863082886,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11591679543383726,
+              -0.4357026252633511,
+              0.8037343332492369
+            ],
+            "closest_button": [
+              0.11814712733030318,
+              -0.43658748269081116,
+              0.7687126994132996
+            ],
+            "closest_ee_minus_button": [
+              -0.0022303318964659175,
+              0.000884857427460084,
+              0.03502163383593737
+            ],
+            "button_min_z_position": [
+              0.11814712733030318,
+              -0.43658748269081116,
+              0.7687126994132996
+            ],
+            "min_active_finger_to_button": 0.14745758015485302,
+            "closest_active_finger": [
+              -0.011279337108135223,
+              -0.4983406662940979,
+              0.8109782338142395
+            ],
+            "closest_active_finger_button": [
+              0.11813698709011076,
+              -0.4366045594215393,
+              0.7765717506408691
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.129416324198246,
+              -0.061736106872558594,
+              0.03440648317337036
+            ],
+            "min_contact_pad_to_button": 0.02097403760292036,
+            "closest_contact_pad": [
+              0.11814712733030318,
+              -0.4369255259330608,
+              0.7896840126801192
+            ],
+            "closest_contact_pad_button": [
+              0.11814712733030318,
+              -0.43658748269081116,
+              0.7687126994132996
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00033804324224961935,
+              0.02097131326681967
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "61c67ba2b760ea430a8d7fae004d47780b960db149021f0645687daa30f33814",
+    "visual_seed": 3684986307801939182,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca4a4478f47239295ab408e6466ee4dfe8609760
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_56_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2438512539376313,
+              -0.022965694147011086,
+              1.1582800301175993
+            ],
+            "current_z": 1.1582800301175993,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3016935227090337,
+            "gripper_z": 1.1518590754839881,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23875790861380977,
+              -0.027778630442730642,
+              1.1518590754839881
+            ],
+            "object_minus_gripper": [
+              0.005093345323821524,
+              0.004812936295719557,
+              0.006420954633611142
+            ],
+            "object_to_gripper_xy": 0.007007604610303672,
+            "object_to_gripper_z": 0.006420954633611142,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2438512539376313,
+              -0.04702486067703685,
+              1.1582800301175993
+            ],
+            "finger_b": [
+              0.23289066513204026,
+              -0.022965694147011086,
+              1.1582800301175993
+            ],
+            "finger_midpoint": [
+              0.23837095953483578,
+              -0.03499527741202397,
+              1.1582800301175993
+            ],
+            "object_minus_finger_midpoint": [
+              0.005480294402795516,
+              0.012029583265012883,
+              0.0
+            ],
+            "finger_gap": 0.026438192091834862,
+            "fingertip_max_gap": 0.09128757079198324,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013219096045917431,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1582800301175993,
+            "object_top_z": 1.2036878443038042,
+            "finger_top_clearance": 0.045407814186204876,
+            "fingertip_min_top_clearance": 0.013622344255861495,
+            "object_projection_between_fingers": 0.8281283434116552,
+            "object_to_finger_line_xy": 0.009974306504198997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814378539599162,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.961905365391691,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2709768259963059,
+              -0.3810453944458363,
+              0.8470194787102312
+            ],
+            "target_position": [
+              0.2631817183597113,
+              -0.3819842328949845,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00785144067669712,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18555591142173988,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194787102312,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572083402946263,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663649581686918,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15316328487327746,
+            "release_required_pad_clearance": 0.05331824790843459,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6541777015963697,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008116185665130615,
+            "max_z_decrease": 0.008116185665130615,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035064622759445954,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008116185665130615,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021001790383264555,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008116185665130615,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008116222134370459,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1188816428184509,
+              -0.4382456839084625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1188816428184509,
+              -0.4382456839084625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12022034280508978,
+              -0.43817544808356923,
+              0.8037321165641077
+            ],
+            "closest_button": [
+              0.11889265477657314,
+              -0.4382239878177643,
+              0.768692672252655
+            ],
+            "closest_ee_minus_button": [
+              0.001327688028516641,
+              4.85397341950522e-05,
+              0.03503944431145267
+            ],
+            "button_min_z_position": [
+              0.11889265477657314,
+              -0.4382239878177643,
+              0.768692672252655
+            ],
+            "min_active_finger_to_button": 0.1445547982140048,
+            "closest_active_finger": [
+              -0.020659036934375763,
+              -0.4229651093482971,
+              0.8107296228408813
+            ],
+            "closest_active_finger_button": [
+              0.11888296157121656,
+              -0.4382425844669342,
+              0.776222825050354
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13954199850559232,
+              0.015277475118637085,
+              0.034506797790527344
+            ],
+            "min_contact_pad_to_button": 0.021001790383264555,
+            "closest_contact_pad": [
+              0.11889265477657314,
+              -0.4392823418656215,
+              0.7896677785935527
+            ],
+            "closest_contact_pad_button": [
+              0.11889265477657314,
+              -0.4382239878177643,
+              0.768692672252655
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010583540478572018,
+              0.02097510634089772
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ffb4369152319e07291b9a2c6b68f98f3d43557378de1f5bacb925a76c97bd3",
+    "visual_seed": 1279754010820683307,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de2020b053828815a7f837c371fc55246f4707e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_57_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2477107075247909,
+              -0.02128646354923915,
+              1.1601606534126188
+            ],
+            "current_z": 1.1601606534126188,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30357420560869797,
+            "gripper_z": 1.153554333914917,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2429780812487266,
+              -0.026093340832241546,
+              1.153554333914917
+            ],
+            "object_minus_gripper": [
+              0.0047326262760643,
+              0.004806877283002397,
+              0.00660631949770174
+            ],
+            "object_to_gripper_xy": 0.006745651983517883,
+            "object_to_gripper_z": 0.00660631949770174,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2477107075247909,
+              -0.04502465069029031,
+              1.1601606534126188
+            ],
+            "finger_b": [
+              0.2366364950438031,
+              -0.02128646354923915,
+              1.1601606534126188
+            ],
+            "finger_midpoint": [
+              0.242173601284297,
+              -0.03315555711976473,
+              1.1601606534126188
+            ],
+            "object_minus_finger_midpoint": [
+              0.005537106240493916,
+              0.011869093570525579,
+              0.0
+            ],
+            "finger_gap": 0.026194268663538457,
+            "fingertip_max_gap": 0.09138702388104614,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013097134331769233,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1601606534126188,
+            "object_top_z": 1.2055951438231012,
+            "finger_top_clearance": 0.04543449041048242,
+            "fingertip_min_top_clearance": 0.01363034712314476,
+            "object_projection_between_fingers": 0.8212635413159146,
+            "object_to_finger_line_xy": 0.010035849127537414,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819351194052307,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8928142215771925,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2743318145400131,
+              -0.3815756778862579,
+              0.8470196133184864
+            ],
+            "target_position": [
+              0.26779406909543124,
+              -0.382111155209966,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0065596380587923,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18777645901920403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196133184864,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576591722937526,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651823110939356,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15527376702000673,
+            "release_required_pad_clearance": 0.053259115554696784,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5374442522433736,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00814276933670044,
+            "max_z_decrease": 0.00814276933670044,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502354297965667,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00814276933670044,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02101596787853107,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00814276933670044,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008142845199491265,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12349399179220197,
+              -0.4383726119995117,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12349399179220197,
+              -0.4383726119995117,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12192631454330685,
+              -0.43941361298260406,
+              0.8036371326575824
+            ],
+            "closest_button": [
+              0.12352221459150312,
+              -0.4383516609668731,
+              0.7686660885810852
+            ],
+            "closest_ee_minus_button": [
+              -0.0015959000481962637,
+              -0.0010619520157309492,
+              0.034971044076497204
+            ],
+            "button_min_z_position": [
+              0.12352221459150312,
+              -0.4383516609668731,
+              0.7686660885810852
+            ],
+            "min_active_finger_to_button": 0.147221904852561,
+            "closest_active_finger": [
+              -0.018876567482948303,
+              -0.4236086905002594,
+              0.8112293481826782
+            ],
+            "closest_active_finger_button": [
+              0.12349620461463927,
+              -0.43837192654609675,
+              0.776786208152771
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14237277209758759,
+              0.014763236045837347,
+              0.03444314002990723
+            ],
+            "min_contact_pad_to_button": 0.02101596787853107,
+            "closest_contact_pad": [
+              0.12352221459150312,
+              -0.44057201720905326,
+              0.789564435980563
+            ],
+            "closest_contact_pad_button": [
+              0.12352221459150312,
+              -0.4383516609668731,
+              0.7686660885810852
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022203562421801437,
+              0.020898347399477823
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "727debd9525f47bf005302d1f8df4fd19db183412869a945e792e375e7f1a3ce",
+    "visual_seed": 5491063475127878765,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ecaa82f63f727a4cf6a84d7e57d2c82e87ba207
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_58_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24701214380824152,
+              -0.021600773949217705,
+              1.1593606955159488
+            ],
+            "current_z": 1.1593606955159488,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.30277430731667276,
+            "gripper_z": 1.1525470814756544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2422935119531037,
+              -0.026449956007499345,
+              1.1525470814756544
+            ],
+            "object_minus_gripper": [
+              0.004718631855137823,
+              0.00484918205828164,
+              0.006813614040294347
+            ],
+            "object_to_gripper_xy": 0.006766095862362724,
+            "object_to_gripper_z": 0.006813614040294347,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24701214380824152,
+              -0.04525906352999186,
+              1.1593606955159488
+            ],
+            "finger_b": [
+              0.23582608116275927,
+              -0.021600773949217705,
+              1.1593606955159488
+            ],
+            "finger_midpoint": [
+              0.2414191124855004,
+              -0.03342991873960478,
+              1.1593606955159488
+            ],
+            "object_minus_finger_midpoint": [
+              0.00559303132274111,
+              0.011829144790387078,
+              0.0
+            ],
+            "finger_gap": 0.026169498722681338,
+            "fingertip_max_gap": 0.09087256058885226,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013084749361340664,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1593606955159488,
+            "object_top_z": 1.20473829779331,
+            "finger_top_clearance": 0.04537760227736132,
+            "fingertip_min_top_clearance": 0.013613280683208395,
+            "object_projection_between_fingers": 0.817289423985224,
+            "object_to_finger_line_xy": 0.010112654894154742,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047936280294426134,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5550645079777461,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2740683221063511,
+              -0.38029808297515394,
+              0.8470196267957212
+            ],
+            "target_position": [
+              0.2677856729876232,
+              -0.3804524296599005,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006284544760612759,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185176584878605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196267957212,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565395235279083,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554748146446713,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528056480585621,
+            "release_required_pad_clearance": 0.052773740732233565,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5961026823484894,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00797581672668457,
+            "max_z_decrease": 0.00797581672668457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514374471578043,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00797581672668457,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021043174208909502,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00797581672668457,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007975838607361991,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12348560243844986,
+              -0.4367138743400574,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12348560243844986,
+              -0.4367138743400574,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12192321635910974,
+              -0.43580934536473537,
+              0.8073067317102778
+            ],
+            "closest_button": [
+              0.12347479164600371,
+              -0.4367077350616455,
+              0.7722087502479553
+            ],
+            "closest_ee_minus_button": [
+              -0.0015515752868939664,
+              0.0008983896969101401,
+              0.03509798146232246
+            ],
+            "button_min_z_position": [
+              0.1234675869345665,
+              -0.43670892715454107,
+              0.7688330411911011
+            ],
+            "min_active_finger_to_button": 0.14715536126025067,
+            "closest_active_finger": [
+              -0.006259113550186157,
+              -0.4970633089542389,
+              0.8106792569160461
+            ],
+            "closest_active_finger_button": [
+              0.12348625808954239,
+              -0.4367144703865052,
+              0.7763447761535645
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12974537163972855,
+              -0.06034883856773371,
+              0.03433448076248169
+            ],
+            "min_contact_pad_to_button": 0.021043174208909502,
+            "closest_contact_pad": [
+              0.1234675869345665,
+              -0.4371204581804749,
+              0.7898721909600724
+            ],
+            "closest_contact_pad_button": [
+              0.1234675869345665,
+              -0.43670892715454107,
+              0.7688330411911011
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004115310259338312,
+              0.021039149768971366
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c151ce6aa7b70188807fe2af02c9f8304939e704e90c9d984512356e8177c80",
+    "visual_seed": 888299289188674829,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6ac522ed3976915e5dedc546d96b3b731cd751c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_59_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24910875432147697,
+              -0.027853604336763815,
+              1.1594322560581933
+            ],
+            "current_z": 1.1594322560581933,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.302845689044983,
+            "gripper_z": 1.1526218990022075,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2444530824515083,
+              -0.03256976795235392,
+              1.1526218990022075
+            ],
+            "object_minus_gripper": [
+              0.0046556718699686805,
+              0.004716163615590102,
+              0.006810357055985872
+            ],
+            "object_to_gripper_xy": 0.006627026468170591,
+            "object_to_gripper_z": 0.006810357055985872,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24910875432147697,
+              -0.05160245052326929,
+              1.1594322560581933
+            ],
+            "finger_b": [
+              0.23826692191257443,
+              -0.027853604336763815,
+              1.1594322560581933
+            ],
+            "finger_midpoint": [
+              0.2436878381170257,
+              -0.03972802743001655,
+              1.1594322560581933
+            ],
+            "object_minus_finger_midpoint": [
+              0.005420916204451259,
+              0.011874423093252734,
+              0.0
+            ],
+            "finger_gap": 0.02610657053641909,
+            "fingertip_max_gap": 0.09116992146515071,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013053285268209534,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1594322560581933,
+            "object_top_z": 1.204847210505351,
+            "finger_top_clearance": 0.045414954447157596,
+            "fingertip_min_top_clearance": 0.013624486334147244,
+            "object_projection_between_fingers": 0.8275331109374968,
+            "object_to_finger_line_xy": 0.00986268992703222,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808496073257536,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6632955512688621,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27524976250557076,
+              -0.38209397999200545,
+              0.8470196253562725
+            ],
+            "target_position": [
+              0.268745616192985,
+              -0.3825080945890402,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0065173161773079925,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862297955109322,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196253562725,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569656689869193,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08683430363317197,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538577563091762,
+            "release_required_pad_clearance": 0.05341715181658599,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8485842680142417,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008156418800354004,
+            "max_z_decrease": 0.008156418800354004,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502955254946115,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008156418800354004,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020914708147638073,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008156418800354004,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815648013061969,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12444554269313812,
+              -0.43876954913139343,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12444554269313812,
+              -0.43876954913139343,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1241152628293225,
+              -0.4373242140230387,
+              0.8036513974010601
+            ],
+            "closest_button": [
+              0.12446587532758713,
+              -0.4387453198432922,
+              0.7686524391174316
+            ],
+            "closest_ee_minus_button": [
+              -0.00035061249826462415,
+              0.0014211058202534543,
+              0.03499895828362842
+            ],
+            "button_min_z_position": [
+              0.12446587532758713,
+              -0.4387453198432922,
+              0.7686524391174316
+            ],
+            "min_active_finger_to_button": 0.1455491384100909,
+            "closest_active_finger": [
+              -0.0031000301241874695,
+              -0.49989861249923706,
+              0.8104534149169922
+            ],
+            "closest_active_finger_button": [
+              0.12444549053907394,
+              -0.43876740336418146,
+              0.776107132434845
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275455206632614,
+              -0.0611312091350556,
+              0.03434628248214722
+            ],
+            "min_contact_pad_to_button": 0.020914708147638073,
+            "closest_contact_pad": [
+              0.12446587532758713,
+              -0.4387453198432922,
+              0.7895671472650697
+            ],
+            "closest_contact_pad_button": [
+              0.12446587532758713,
+              -0.4387453198432922,
+              0.7686524391174316
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020914708147638073
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26eed5445c43097953f5d50f01b590ca8bdecf2dec81225c26f8b3a07018c4d0",
+    "visual_seed": 2228351985042024673,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2017e71e65929a28a2a47faa26e3a3bc82c40005
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_5_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24793256534085498,
+              -0.020901230391869596,
+              1.159081561019732
+            ],
+            "current_z": 1.159081561019732,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30249511321581124,
+            "gripper_z": 1.1522257882215428,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2430668683610077,
+              -0.025578660434509848,
+              1.1522257882215428
+            ],
+            "object_minus_gripper": [
+              0.004865696979847289,
+              0.004677430042640252,
+              0.006855772798189275
+            ],
+            "object_to_gripper_xy": 0.006749322847774332,
+            "object_to_gripper_z": 0.006855772798189275,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24793256534085498,
+              -0.04486729204685758,
+              1.159081561019732
+            ],
+            "finger_b": [
+              0.2372330382976016,
+              -0.020901230391869596,
+              1.159081561019732
+            ],
+            "finger_midpoint": [
+              0.24258280181922828,
+              -0.03288426121936359,
+              1.159081561019732
+            ],
+            "object_minus_finger_midpoint": [
+              0.005349763521626694,
+              0.011983030827493992,
+              0.0
+            ],
+            "finger_gap": 0.026245989983233558,
+            "fingertip_max_gap": 0.09098947493035667,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013122994991616775,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159081561019732,
+            "object_top_z": 1.2044719387573117,
+            "finger_top_clearance": 0.0453903777375797,
+            "fingertip_min_top_clearance": 0.01361711332127391,
+            "object_projection_between_fingers": 0.8338106290205051,
+            "object_to_finger_line_xy": 0.009770083923739655,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047994737465178336,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6715024229389936,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2696628575319925,
+              -0.38274829315831144,
+              0.8470195953923152
+            ],
+            "target_position": [
+              0.26256301555185807,
+              -0.38330386788437826,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007121546139647147,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18558423339300278,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195953923152,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554651844341634,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08675419968302027,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15366623217109085,
+            "release_required_pad_clearance": 0.05337709984151014,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7698462425601216,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008088767528533936,
+            "max_z_decrease": 0.008088767528533936,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515734759447108,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008088767528533936,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021018488802471147,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008088767528533936,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00808878282674538,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11826293915510173,
+              -0.4395653307437897,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11826293915510173,
+              -0.4395653307437897,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11979793698541119,
+              -0.43811266807948374,
+              0.8038146024251364
+            ],
+            "closest_button": [
+              0.11826527863740918,
+              -0.4395497739315033,
+              0.7687200903892517
+            ],
+            "closest_ee_minus_button": [
+              0.0015326583480020084,
+              0.00143710585201956,
+              0.03509451203588465
+            ],
+            "button_min_z_position": [
+              0.11826527863740918,
+              -0.4395497739315033,
+              0.7687200903892517
+            ],
+            "min_active_finger_to_button": 0.14394301024006032,
+            "closest_active_finger": [
+              -0.007516607642173767,
+              -0.5005271434783936,
+              0.8106459975242615
+            ],
+            "closest_active_finger_button": [
+              0.11826346814632413,
+              -0.4395626485347748,
+              0.7762615084648132
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1257800757884979,
+              -0.060964494943618774,
+              0.03438448905944824
+            ],
+            "min_contact_pad_to_button": 0.021018488802471147,
+            "closest_contact_pad": [
+              0.11826527863740918,
+              -0.4395497739315033,
+              0.7897385791917229
+            ],
+            "closest_contact_pad_button": [
+              0.11826527863740918,
+              -0.4395497739315033,
+              0.7687200903892517
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021018488802471147
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75dbc684d25bb97658efe2e4b48c942caa1aab2b14734ea51ec1628eaf3d00eb",
+    "visual_seed": 7017329840616948128,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07aa458c7840d919287c7156abe270f16f9af929
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_60_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2407853150408496,
+              -0.01975998190955259,
+              1.1604079738064847
+            ],
+            "current_z": 1.1604079738064847,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.30382158560720873,
+            "gripper_z": 1.1540487200232186,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23577020330950327,
+              -0.024662920455731235,
+              1.1540487200232186
+            ],
+            "object_minus_gripper": [
+              0.005015111731346333,
+              0.0049029385461786465,
+              0.006359253783266183
+            ],
+            "object_to_gripper_xy": 0.007013569138854482,
+            "object_to_gripper_z": 0.006359253783266183,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2407853150408496,
+              -0.04367358323260091,
+              1.1604079738064847
+            ],
+            "finger_b": [
+              0.22957830423288586,
+              -0.01975998190955259,
+              1.1604079738064847
+            ],
+            "finger_midpoint": [
+              0.23518180963686774,
+              -0.031716782571076754,
+              1.1604079738064847
+            ],
+            "object_minus_finger_midpoint": [
+              0.005603505403981857,
+              0.011956800661524165,
+              0.0
+            ],
+            "finger_gap": 0.0264094191433192,
+            "fingertip_max_gap": 0.0910403261928896,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013204709571659597,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1604079738064847,
+            "object_top_z": 1.2057784881922737,
+            "finger_top_clearance": 0.045370514385788985,
+            "fingertip_min_top_clearance": 0.013611154315736729,
+            "object_projection_between_fingers": 0.8199214923513126,
+            "object_to_finger_line_xy": 0.010147894091511471,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480201630964448,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6199081202611539,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2713535734996684,
+              -0.3737477926576939,
+              0.847019304174643
+            ],
+            "target_position": [
+              0.2641236393583471,
+              -0.3741454247271719,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007240860373637957,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18726327411633348,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019304174643,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751445640304937,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851910872103769,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15611246233533485,
+            "release_required_pad_clearance": 0.05259554360518845,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2533357495370583,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0080338716506958,
+            "max_z_decrease": 0.0080338716506958,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035108110020117204,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0080338716506958,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02104812270118339,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0080338716506958,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00803388735628943,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1198235675692558,
+              -0.43040686845779413,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1198235675692558,
+              -0.43040686845779413,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11871102130206088,
+              -0.42914391473124847,
+              0.8072012622239587
+            ],
+            "closest_button": [
+              0.11981160193681714,
+              -0.43040105700492853,
+              0.772132933139801
+            ],
+            "closest_ee_minus_button": [
+              -0.0011005806347562652,
+              0.0012571422736800675,
+              0.03506832908415769
+            ],
+            "button_min_z_position": [
+              0.11980836838483808,
+              -0.43040224909782404,
+              0.7687749862670898
+            ],
+            "min_active_finger_to_button": 0.14661222681986688,
+            "closest_active_finger": [
+              -0.007514350116252899,
+              -0.49436333775520325,
+              0.8105450868606567
+            ],
+            "closest_active_finger_button": [
+              0.11982534825801847,
+              -0.4304039478302001,
+              0.7760640382766724
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12733969837427137,
+              -0.06395938992500316,
+              0.034481048583984375
+            ],
+            "min_contact_pad_to_button": 0.02104812270118339,
+            "closest_contact_pad": [
+              0.11980836838483808,
+              -0.43040224909782404,
+              0.7898231089682732
+            ],
+            "closest_contact_pad_button": [
+              0.11980836838483808,
+              -0.43040224909782404,
+              0.7687749862670898
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02104812270118339
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fdf7ae8fec46d25431a524cb3983552423a56642227c6e100d47452c29e823b0",
+    "visual_seed": 3538061152836272296,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23eff7af55da8483b39e13fc8a3d7480dbfcad9b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_61_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24362068338102327,
+              -0.025445155389122877,
+              1.15710416841318
+            ],
+            "current_z": 1.15710416841318,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3005176610046144,
+            "gripper_z": 1.1506347939723691,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23853478891131957,
+              -0.030258270175320665,
+              1.1506347939723691
+            ],
+            "object_minus_gripper": [
+              0.0050858944697037,
+              0.004813114786197788,
+              0.00646937444081086
+            ],
+            "object_to_gripper_xy": 0.007002313653506137,
+            "object_to_gripper_z": 0.00646937444081086,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24362068338102327,
+              -0.04958563489939713,
+              1.15710416841318
+            ],
+            "finger_b": [
+              0.23275921600882551,
+              -0.025445155389122877,
+              1.15710416841318
+            ],
+            "finger_midpoint": [
+              0.2381899496949244,
+              -0.03751539514426,
+              1.15710416841318
+            ],
+            "object_minus_finger_midpoint": [
+              0.005430733686098865,
+              0.012070239755137123,
+              0.0
+            ],
+            "finger_gap": 0.026471385012184146,
+            "fingertip_max_gap": 0.09113094341544878,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013235692506092064,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.15710416841318,
+            "object_top_z": 1.202476771496063,
+            "finger_top_clearance": 0.045372603082882934,
+            "fingertip_min_top_clearance": 0.013611780924864847,
+            "object_projection_between_fingers": 0.8316459088783993,
+            "object_to_finger_line_xy": 0.009905074117934043,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806547170772439,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7462367366586959,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27704585586811553,
+              -0.38020962280681286,
+              0.8470198933399855
+            ],
+            "target_position": [
+              0.26814471949906155,
+              -0.3816748106659994,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009020920358987945,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18771603435324505,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198933399855,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531626835721596,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663645246195524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15631271807338307,
+            "release_required_pad_clearance": 0.05331822623097762,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.65038613857805,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008029937744140625,
+            "max_z_decrease": 0.008029937744140625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510469330211774,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008029937744140625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021154584616903116,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008029937744140625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008029962631572109,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12384464591741559,
+              -0.43793627619743347,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12384464591741559,
+              -0.43793627619743347,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12355574427860758,
+              -0.4392339608701142,
+              0.8075557182416883
+            ],
+            "closest_button": [
+              0.1238334774971008,
+              -0.4379309415817261,
+              0.772476315498352
+            ],
+            "closest_ee_minus_button": [
+              -0.00027773321849322574,
+              -0.0013030192883881075,
+              0.03507940274333621
+            ],
+            "button_min_z_position": [
+              0.12382553517818447,
+              -0.4379304051399231,
+              0.768778920173645
+            ],
+            "min_active_finger_to_button": 0.14635485153636588,
+            "closest_active_finger": [
+              -0.017857052385807037,
+              -0.425775945186615,
+              0.8111089468002319
+            ],
+            "closest_active_finger_button": [
+              0.12384614348411557,
+              -0.43793392181396484,
+              0.7765817046165466
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1417031958699226,
+              0.012157976627349854,
+              0.0345272421836853
+            ],
+            "min_contact_pad_to_button": 0.021154584616903116,
+            "closest_contact_pad": [
+              0.12382553517818447,
+              -0.44006263982986554,
+              0.7898257732766797
+            ],
+            "closest_contact_pad_button": [
+              0.12382553517818447,
+              -0.4379304051399231,
+              0.768778920173645
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002132234689942447,
+              0.02104685310303467
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "370fd33cd4d0e7b3f17dc1c59b3f4b2ec410e20c3e4bbfc6e4e3ce8c228f3170",
+    "visual_seed": 771298259010124393,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..455b2a110fa530b9bc0ebb3369be8c6703992237
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_62_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24070454238455183,
+              -0.022378305155831106,
+              1.1600337829294747
+            ],
+            "current_z": 1.1600337829294747,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3034473351255539,
+            "gripper_z": 1.1534901773738528,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23594837160338344,
+              -0.027177020212421008,
+              1.1534901773738528
+            ],
+            "object_minus_gripper": [
+              0.004756170781168384,
+              0.0047987150565899014,
+              0.006543605555621834
+            ],
+            "object_to_gripper_xy": 0.006756391543862929,
+            "object_to_gripper_z": 0.006543605555621834,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24070454238455183,
+              -0.04605304187621979,
+              1.1600337829294747
+            ],
+            "finger_b": [
+              0.22960748917242205,
+              -0.022378305155831106,
+              1.1600337829294747
+            ],
+            "finger_midpoint": [
+              0.23515601577848694,
+              -0.03421567351602545,
+              1.1600337829294747
+            ],
+            "object_minus_finger_midpoint": [
+              0.005548526606064891,
+              0.01183736836019434,
+              0.0
+            ],
+            "finger_gap": 0.026146467233118895,
+            "fingertip_max_gap": 0.0909280495822179,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013073233616559448,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1600337829294747,
+            "object_top_z": 1.2054265735233884,
+            "finger_top_clearance": 0.04539279059391377,
+            "fingertip_min_top_clearance": 0.013617837178174096,
+            "object_projection_between_fingers": 0.8198686508842727,
+            "object_to_finger_line_xy": 0.010048004222786065,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796402479110895,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5130617105342034,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2702095656693978,
+              -0.3832409693857888,
+              0.8470195251181569
+            ],
+            "target_position": [
+              0.26447898362777567,
+              -0.383268362174073,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005730647511460821,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18449723935093265,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195251181569,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759145488213537,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627719871352159,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15153929552180181,
+            "release_required_pad_clearance": 0.053138599356760796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3026407359473107,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00810939073562622,
+            "max_z_decrease": 0.00810939073562622,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035041449925451884,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00810939073562622,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021006922683445027,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00810939073562622,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008109424918483822,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12017890810966486,
+              -0.43952980637550354,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12017890810966486,
+              -0.43952980637550354,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12012659483834112,
+              -0.4396078888515835,
+              0.8037407200976376
+            ],
+            "closest_button": [
+              0.12019089609384531,
+              -0.4395095407962799,
+              0.7686994671821594
+            ],
+            "closest_ee_minus_button": [
+              -6.430125550418997e-05,
+              -9.834805530356538e-05,
+              0.035041252915478216
+            ],
+            "button_min_z_position": [
+              0.12019089609384531,
+              -0.4395095407962799,
+              0.7686994671821594
+            ],
+            "min_active_finger_to_button": 0.14584478735681555,
+            "closest_active_finger": [
+              -0.020512349903583527,
+              -0.42250990867614746,
+              0.8112664818763733
+            ],
+            "closest_active_finger_button": [
+              0.12017776072025294,
+              -0.439529150724411,
+              0.7768086791038513
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14069011062383646,
+              0.01701924204826355,
+              0.03445780277252197
+            ],
+            "min_contact_pad_to_button": 0.021006922683445027,
+            "closest_contact_pad": [
+              0.12019089609384531,
+              -0.44088243084678264,
+              0.7896614798130465
+            ],
+            "closest_contact_pad_button": [
+              0.12019089609384531,
+              -0.4395095407962799,
+              0.7686994671821594
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013728900505027286,
+              0.02096201263088704
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a183abbc723bab5d935dd24261ca5fd13958285617cd01a579ca6123a22570d1",
+    "visual_seed": 8600451908385265230,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9499a3bedeb00dfd55ea352b3f1b4e8232fccc45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_63_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2501740635985724,
+              -0.020496221431469026,
+              1.159018064897196
+            ],
+            "current_z": 1.159018064897196,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3024315574886304,
+            "gripper_z": 1.1522502891277195,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24513938371505978,
+              -0.02532561225207272,
+              1.1522502891277195
+            ],
+            "object_minus_gripper": [
+              0.005034679883512638,
+              0.0048293908206036955,
+              0.006767775769476403
+            ],
+            "object_to_gripper_xy": 0.0069764616552789906,
+            "object_to_gripper_z": 0.006767775769476403,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2501740635985724,
+              -0.04459956663820509,
+              1.159018064897196
+            ],
+            "finger_b": [
+              0.23926294842259185,
+              -0.020496221431469026,
+              1.159018064897196
+            ],
+            "finger_midpoint": [
+              0.24471850601058215,
+              -0.03254789403483706,
+              1.159018064897196
+            ],
+            "object_minus_finger_midpoint": [
+              0.005455557587990267,
+              0.012051672603368032,
+              0.0
+            ],
+            "finger_gap": 0.026457960702567382,
+            "fingertip_max_gap": 0.09117759215418478,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013228980351283684,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159018064897196,
+            "object_top_z": 1.2044066867415952,
+            "finger_top_clearance": 0.04538862184439929,
+            "fingertip_min_top_clearance": 0.01361658655331982,
+            "object_projection_between_fingers": 0.8299308480369728,
+            "object_to_finger_line_xy": 0.009940084900481249,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808879607709239,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7433681119927928,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27463101811029383,
+              -0.37822832022297775,
+              0.847019675776364
+            ],
+            "target_position": [
+              0.26541873350553125,
+              -0.3794868682398448,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009297856244850515,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18910175467160253,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019675776364,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524878578411551,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855729327179403,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15773995156039675,
+            "release_required_pad_clearance": 0.05278646635897015,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6192851117305179,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00805574655532837,
+            "max_z_decrease": 0.00805574655532837,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517134816058812,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00805574655532837,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111448463658269,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00805574655532837,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008055755362428235,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12111865729093553,
+              -0.43574833869934076,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12111865729093553,
+              -0.43574833869934076,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1227386007125223,
+              -0.43619818394086596,
+              0.8038838003222787
+            ],
+            "closest_button": [
+              0.12111151963472366,
+              -0.4357388019561767,
+              0.7687531113624573
+            ],
+            "closest_ee_minus_button": [
+              0.001627081077798631,
+              -0.0004593819846892555,
+              0.03513068895982141
+            ],
+            "button_min_z_position": [
+              0.12111151963472366,
+              -0.4357388019561767,
+              0.7687531113624573
+            ],
+            "min_active_finger_to_button": 0.14417851099280385,
+            "closest_active_finger": [
+              -0.01785535365343094,
+              -0.41873398423194885,
+              0.8107277750968933
+            ],
+            "closest_active_finger_button": [
+              0.12111860513687135,
+              -0.43574610352516163,
+              0.7763145565986633
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13897395879030228,
+              0.01701211929321278,
+              0.03441321849822998
+            ],
+            "min_contact_pad_to_button": 0.02111448463658269,
+            "closest_contact_pad": [
+              0.12111151963472366,
+              -0.4375022391398224,
+              0.7897938278608996
+            ],
+            "closest_contact_pad_button": [
+              0.12111151963472366,
+              -0.4357388019561767,
+              0.7687531113624573
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017634371836456886,
+              0.021040716498442302
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "451bda3a01c623aaaefda7fad125e26791eafb663b825338e30b83618d65824d",
+    "visual_seed": 5643094038708709519,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91071e0250801cb7056e6376a8fc9d3be8d297a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_64_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24717879596576173,
+              -0.02858023099551379,
+              1.1609371098414332
+            ],
+            "current_z": 1.1609371098414332,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3043506620375124,
+            "gripper_z": 1.154317019557187,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2424143878055104,
+              -0.033331304190576866,
+              1.154317019557187
+            ],
+            "object_minus_gripper": [
+              0.004764408160251338,
+              0.004751073195063075,
+              0.0066200902842461495
+            ],
+            "object_to_gripper_xy": 0.006728467999650173,
+            "object_to_gripper_z": 0.0066200902842461495,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24717879596576173,
+              -0.05242353369709586,
+              1.1609371098414332
+            ],
+            "finger_b": [
+              0.23631615181352475,
+              -0.02858023099551379,
+              1.1609371098414332
+            ],
+            "finger_midpoint": [
+              0.24174747388964324,
+              -0.04050188234630483,
+              1.1609371098414332
+            ],
+            "object_minus_finger_midpoint": [
+              0.005431322076118489,
+              0.011921651350791037,
+              0.0
+            ],
+            "finger_gap": 0.026201147335515654,
+            "fingertip_max_gap": 0.09140886283802827,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013100573667757829,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1609371098414332,
+            "object_top_z": 1.20637128443063,
+            "finger_top_clearance": 0.04543417458919685,
+            "fingertip_min_top_clearance": 0.013630252376759022,
+            "object_projection_between_fingers": 0.8281179649518841,
+            "object_to_finger_line_xy": 0.0098851134015143,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048204431419014135,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8513121159045823,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2712269596402931,
+              -0.3826223237545718,
+              0.8470186809503788
+            ],
+            "target_position": [
+              0.2647938005442869,
+              -0.3830291777338277,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064460116440294545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18687605686627548,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470186809503788,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568934191267912,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0875372116469441,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.154389020847785,
+            "release_required_pad_clearance": 0.05376860582347205,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.542678334582798,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008129894733428955,
+            "max_z_decrease": 0.008129894733428955,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501366153682544,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008129894733428955,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020967960148335726,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008129894733428955,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008129953964313607,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12049372494220732,
+              -0.43929064273834223,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12049372494220732,
+              -0.43929064273834223,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12053227443228978,
+              -0.43912871533710307,
+              0.8036923455554389
+            ],
+            "closest_button": [
+              0.12051425129175186,
+              -0.43926736712455744,
+              0.7686789631843567
+            ],
+            "closest_ee_minus_button": [
+              1.8023140537920534e-05,
+              0.00013865178745436912,
+              0.0350133823710822
+            ],
+            "button_min_z_position": [
+              0.12051425129175186,
+              -0.43926736712455744,
+              0.7686789631843567
+            ],
+            "min_active_finger_to_button": 0.1457944683402586,
+            "closest_active_finger": [
+              -0.020208530128002167,
+              -0.4228372871875763,
+              0.8112465143203735
+            ],
+            "closest_active_finger_button": [
+              0.12049728631973267,
+              -0.4392872452735901,
+              0.7767893075942993
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14070581644773483,
+              0.016449958086013794,
+              0.03445720672607422
+            ],
+            "min_contact_pad_to_button": 0.020967960148335726,
+            "closest_contact_pad": [
+              0.12051425129175186,
+              -0.44033259224125004,
+              0.7896198477939658
+            ],
+            "closest_contact_pad_button": [
+              0.12051425129175186,
+              -0.43926736712455744,
+              0.7686789631843567
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001065225116692603,
+              0.02094088460960908
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a471150885f180f44f75dfdff1ff1d3158be2ab5fd2d1f12f570ebeaeb6193d5",
+    "visual_seed": 5746249481447181776,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d8cfe738abc081428483fa1ffdfc1eb4932776
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_65_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24398431937061435,
+              -0.02804274390207408,
+              1.1583736396847122
+            ],
+            "current_z": 1.1583736396847122,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30178707267150184,
+            "gripper_z": 1.1518541512388814,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23892773885976354,
+              -0.03284705181419943,
+              1.1518541512388814
+            ],
+            "object_minus_gripper": [
+              0.005056580510850811,
+              0.004804307912125352,
+              0.006519488445830834
+            ],
+            "object_to_gripper_xy": 0.00697498250730613,
+            "object_to_gripper_z": 0.006519488445830834,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24398431937061435,
+              -0.05223879227119444,
+              1.1583736396847122
+            ],
+            "finger_b": [
+              0.23322884578316805,
+              -0.02804274390207408,
+              1.1583736396847122
+            ],
+            "finger_midpoint": [
+              0.2386065825768912,
+              -0.04014076808663426,
+              1.1583736396847122
+            ],
+            "object_minus_finger_midpoint": [
+              0.005377736793723137,
+              0.012098024184560182,
+              0.0
+            ],
+            "finger_gap": 0.026478840019363896,
+            "fingertip_max_gap": 0.09128000232392122,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013239420009681944,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583736396847122,
+            "object_top_z": 1.2038236721514939,
+            "finger_top_clearance": 0.0454500324667817,
+            "fingertip_min_top_clearance": 0.013635009740034476,
+            "object_projection_between_fingers": 0.8350086542665349,
+            "object_to_finger_line_xy": 0.009828223553763477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814000116196061,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7701710374718663,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2793393748833426,
+              -0.37484086905774616,
+              0.847019263985245
+            ],
+            "target_position": [
+              0.27153544572283567,
+              -0.37563902340447713,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007844638978526412,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18874775114229336,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019263985245,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518873098297822,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531385086444425,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15760096803314452,
+            "release_required_pad_clearance": 0.052656925432222126,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.371149116310783,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008121252059936523,
+            "max_z_decrease": 0.008121252059936523,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035067967737864386,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008121252059936523,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021029555793936276,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008121252059936523,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008121291252273483,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12723536789417267,
+              -0.4319004714488983,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12723536789417267,
+              -0.4319004714488983,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12859009459603254,
+              -0.4325782911636991,
+              0.8037228226370995
+            ],
+            "closest_button": [
+              0.12724648416042328,
+              -0.43187782168388367,
+              0.7686876058578491
+            ],
+            "closest_ee_minus_button": [
+              0.001343610435609266,
+              -0.0007004694798154465,
+              0.03503521677925037
+            ],
+            "button_min_z_position": [
+              0.12724648416042328,
+              -0.43187782168388367,
+              0.7686876058578491
+            ],
+            "min_active_finger_to_button": 0.14443081814590966,
+            "closest_active_finger": [
+              -0.012314021587371826,
+              -0.41773974895477295,
+              0.8112406730651855
+            ],
+            "closest_active_finger_button": [
+              0.12723428010940552,
+              -0.4318997859954834,
+              0.7768019437789917
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13954830169677734,
+              0.01416003704071045,
+              0.03443872928619385
+            ],
+            "min_contact_pad_to_button": 0.021029555793936276,
+            "closest_contact_pad": [
+              0.12724648416042328,
+              -0.43365089424073255,
+              0.7896422814840293
+            ],
+            "closest_contact_pad_button": [
+              0.12724648416042328,
+              -0.43187782168388367,
+              0.7686876058578491
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001773072556848887,
+              0.02095467562618014
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cec74b085d2f88d9f3fed49afb19b40219e4223a15d8d08860021e23b752ff1a",
+    "visual_seed": 1716496518913053311,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..40542be73f1bbc2f72dec7779238f823d2bd3419
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_66_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2411911193405127,
+              -0.020902440401547467,
+              1.1592543946778275
+            ],
+            "current_z": 1.1592543946778275,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.3026678276646171,
+            "gripper_z": 1.1528655129564507,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23607130311579677,
+              -0.02573660946466992,
+              1.1528655129564507
+            ],
+            "object_minus_gripper": [
+              0.0051198162247159396,
+              0.0048341690631224545,
+              0.00638888172137686
+            ],
+            "object_to_gripper_xy": 0.007041428030287238,
+            "object_to_gripper_z": 0.00638888172137686,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2411911193405127,
+              -0.04503525453770213,
+              1.1592543946778275
+            ],
+            "finger_b": [
+              0.23025652405622443,
+              -0.020902440401547467,
+              1.1592543946778275
+            ],
+            "finger_midpoint": [
+              0.23572382169836859,
+              -0.0329688474696248,
+              1.1592543946778275
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054672976421441255,
+              0.012066407068077333,
+              0.0
+            ],
+            "finger_gap": 0.02649449173245952,
+            "fingertip_max_gap": 0.09116969967966973,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013247245866229756,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1592543946778275,
+            "object_top_z": 1.2046345605274966,
+            "finger_top_clearance": 0.045380165849669085,
+            "fingertip_min_top_clearance": 0.013614049754900725,
+            "object_projection_between_fingers": 0.8296687859769072,
+            "object_to_finger_line_xy": 0.009959902545573609,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808484983983487,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7600837068755649,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27540432095332923,
+              -0.3762895863652145,
+              0.8470200868643901
+            ],
+            "target_position": [
+              0.2683593382663735,
+              -0.37695325996076245,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007076174369031179,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18761272798818618,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200868643901,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755543742966847,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718881629798182,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15557142460503234,
+            "release_required_pad_clearance": 0.05359440814899091,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.196852937511717,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008058011531829834,
+            "max_z_decrease": 0.008058011531829834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035115040823500275,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008058011531829834,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02102342146452093,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008058011531829834,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008058022492951263,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1240592673420906,
+              -0.4332147240638732,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1240592673420906,
+              -0.4332147240638732,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12232814873109651,
+              -0.43280559771075855,
+              0.8072659424734326
+            ],
+            "closest_button": [
+              0.12404799461364746,
+              -0.43320685625076283,
+              0.7721953392028809
+            ],
+            "closest_ee_minus_button": [
+              -0.0017198458825509466,
+              0.00040125854000427896,
+              0.03507060327055178
+            ],
+            "button_min_z_position": [
+              0.12405357509851456,
+              -0.43320271372795094,
+              0.7687508463859558
+            ],
+            "min_active_finger_to_button": 0.14753550196858886,
+            "closest_active_finger": [
+              -0.003967687487602234,
+              -0.49792924523353577,
+              0.8107075691223145
+            ],
+            "closest_active_finger_button": [
+              0.12406094372272493,
+              -0.43321451544761647,
+              0.7762489318847656
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12802863121032715,
+              -0.0647147297859193,
+              0.03445863723754883
+            ],
+            "min_contact_pad_to_button": 0.02102342146452093,
+            "closest_contact_pad": [
+              0.12405357509851456,
+              -0.43371828902037557,
+              0.7897679449533775
+            ],
+            "closest_contact_pad_button": [
+              0.12405357509851456,
+              -0.43320271372795094,
+              0.7687508463859558
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005155752924246304,
+              0.021017098567421733
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11fb252229c90cfcb6c93211c59086080ac6609e75d8439712bbae35a4e57ed9",
+    "visual_seed": 1064727893076148747,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..916d8653b99638209a3e1bc464c96f05aafaf8f9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_67_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24567653896216254,
+              -0.023972200462444443,
+              1.158816048921454
+            ],
+            "current_z": 1.158816048921454,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3022295415128885,
+            "gripper_z": 1.152159543708306,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24104280275985085,
+              -0.02867701269453228,
+              1.152159543708306
+            ],
+            "object_minus_gripper": [
+              0.004633736202311695,
+              0.004704812232087838,
+              0.0066565052131479785
+            ],
+            "object_to_gripper_xy": 0.006603542180664658,
+            "object_to_gripper_z": 0.0066565052131479785,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24567653896216254,
+              -0.047705691972353116,
+              1.158816048921454
+            ],
+            "finger_b": [
+              0.2348526203462669,
+              -0.023972200462444443,
+              1.158816048921454
+            ],
+            "finger_midpoint": [
+              0.24026457965421472,
+              -0.035838946217398776,
+              1.158816048921454
+            ],
+            "object_minus_finger_midpoint": [
+              0.005411959307947828,
+              0.011866745754954333,
+              0.0
+            ],
+            "finger_gap": 0.026085165007230442,
+            "fingertip_max_gap": 0.0914185826416262,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01304258250361522,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158816048921454,
+            "object_top_z": 1.2042625784837768,
+            "finger_top_clearance": 0.04544652956232276,
+            "fingertip_min_top_clearance": 0.01363395886869686,
+            "object_projection_between_fingers": 0.8278203344924557,
+            "object_to_finger_line_xy": 0.009848102571062736,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0482092913208131,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7749758247247625,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27682377959161925,
+              -0.3757927799113133,
+              0.8470192959531218
+            ],
+            "target_position": [
+              0.27022190790023526,
+              -0.3761410864834587,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006611053418154849,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18837226252616418,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192959531218,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537998149793713,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572452152482558,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1566622532871472,
+            "release_required_pad_clearance": 0.052862260762412794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7661680543192457,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008044958114624023,
+            "max_z_decrease": 0.008044958114624023,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517210932291349,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008044958114624023,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021268948961851202,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008044958114624023,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008044971471541772,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12592183053493503,
+              -0.4324025511741638,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12592183053493503,
+              -0.4324025511741638,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1266253708513695,
+              -0.4343191903805048,
+              0.8078713650842568
+            ],
+            "closest_button": [
+              0.1259121745824814,
+              -0.4323988556861877,
+              0.772758960723877
+            ],
+            "closest_ee_minus_button": [
+              0.0007131962688880777,
+              -0.0019203346943171273,
+              0.03511240436037988
+            ],
+            "button_min_z_position": [
+              0.12590992450714114,
+              -0.43239399790763855,
+              0.7687638998031616
+            ],
+            "min_active_finger_to_button": 0.1452779756176601,
+            "closest_active_finger": [
+              -0.01434500515460968,
+              -0.41659310460090637,
+              0.8106892108917236
+            ],
+            "closest_active_finger_button": [
+              0.12592165172100073,
+              -0.4324014484882355,
+              0.7763227820396423
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1402666568756104,
+              0.0158083438873291,
+              0.0343664288520813
+            ],
+            "min_contact_pad_to_button": 0.021268948961851202,
+            "closest_contact_pad": [
+              0.12590992450714114,
+              -0.4355640989880163,
+              0.7897952727750344
+            ],
+            "closest_contact_pad_button": [
+              0.12590992450714114,
+              -0.43239399790763855,
+              0.7687638998031616
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031701010803777407,
+              0.02103137297187274
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fca4f6821662b928384a54999a000d931f1c637181309dc3dafe83e79be0059",
+    "visual_seed": 4864012960313495896,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfd858b05c9c8a60f78de4c0a41d178c3b1a3d9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_68_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24325831011153812,
+              -0.027847518915075625,
+              1.1580849973612246
+            ],
+            "current_z": 1.1580849973612246,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30149843034801427,
+            "gripper_z": 1.1515132804359198,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23844888328266325,
+              -0.03266062572214724,
+              1.1515132804359198
+            ],
+            "object_minus_gripper": [
+              0.004809426828874863,
+              0.004813106807071619,
+              0.0065717169253047825
+            ],
+            "object_to_gripper_xy": 0.006804159283745529,
+            "object_to_gripper_z": 0.0065717169253047825,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24325831011153812,
+              -0.0516106821652445,
+              1.1580849973612246
+            ],
+            "finger_b": [
+              0.23219658182143346,
+              -0.027847518915075625,
+              1.1580849973612246
+            ],
+            "finger_midpoint": [
+              0.2377274459664858,
+              -0.03972910054016006,
+              1.1580849973612246
+            ],
+            "object_minus_finger_midpoint": [
+              0.005530864145052328,
+              0.011881581625084434,
+              0.0
+            ],
+            "finger_gap": 0.026211634066159974,
+            "fingertip_max_gap": 0.09101003642979102,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013105817033079985,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1580849973612246,
+            "object_top_z": 1.2035081063481292,
+            "finger_top_clearance": 0.0454231089869046,
+            "fingertip_min_top_clearance": 0.01362693269607138,
+            "object_projection_between_fingers": 0.8219025173815543,
+            "object_to_finger_line_xy": 0.010028434492992216,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048005018214895515,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.46183717258548773,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27614377188490075,
+              -0.38005605892872074,
+              0.8470193321335077
+            ],
+            "target_position": [
+              0.26946929070694126,
+              -0.3804530035250145,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0066862742994482595,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18590298357905335,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193321335077,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541217269042258,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08557461413834262,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542751547775581,
+            "release_required_pad_clearance": 0.05278730706917131,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6205472557805309,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008092880249023438,
+            "max_z_decrease": 0.008092880249023438,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035108454464469994,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008092880249023438,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020991547886430435,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008092880249023438,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008092900287743846,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12516921758651733,
+              -0.43671447038650507,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12516921758651733,
+              -0.43671447038650507,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12429168302615629,
+              -0.4356149386089183,
+              0.8037964966380471
+            ],
+            "closest_button": [
+              0.12517818808555603,
+              -0.436698853969574,
+              0.7687159776687622
+            ],
+            "closest_ee_minus_button": [
+              -0.0008865050593997448,
+              0.0010839153606556629,
+              0.03508051896928488
+            ],
+            "button_min_z_position": [
+              0.12517818808555603,
+              -0.436698853969574,
+              0.7687159776687622
+            ],
+            "min_active_finger_to_button": 0.14616625408618922,
+            "closest_active_finger": [
+              -0.0031769350171089172,
+              -0.49764537811279297,
+              0.811153769493103
+            ],
+            "closest_active_finger_button": [
+              0.1251680999994278,
+              -0.4367148578166961,
+              0.776808500289917
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283450350165367,
+              -0.06093052029609686,
+              0.034345269203186035
+            ],
+            "min_contact_pad_to_button": 0.020991547886430435,
+            "closest_contact_pad": [
+              0.12517818808555603,
+              -0.43689430060728673,
+              0.7897066156600218
+            ],
+            "closest_contact_pad_button": [
+              0.12517818808555603,
+              -0.436698853969574,
+              0.7687159776687622
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001954466377127595,
+              0.020990637991259553
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3be8abc4730369676d4154ecaf3bc73543b1e58c8e129c4f577f7b69f42305b",
+    "visual_seed": 5003598279372278844,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..43ebffc92e2a1c45e1a6245b53a94002a5f85dd5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_69_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24187046276423893,
+              -0.023553135990744198,
+              1.1597488187149998
+            ],
+            "current_z": 1.1597488187149998,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3031623113064341,
+            "gripper_z": 1.1532949125526364,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2368332490574006,
+              -0.028306287770343982,
+              1.1532949125526364
+            ],
+            "object_minus_gripper": [
+              0.005037213706838323,
+              0.004753151779599785,
+              0.00645390616236341
+            ],
+            "object_to_gripper_xy": 0.006925747163178315,
+            "object_to_gripper_z": 0.00645390616236341,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24187046276423893,
+              -0.047637694756174104,
+              1.1597488187149998
+            ],
+            "finger_b": [
+              0.2310804527073868,
+              -0.023553135990744198,
+              1.1597488187149998
+            ],
+            "finger_midpoint": [
+              0.23647545773581286,
+              -0.03559541537345915,
+              1.1597488187149998
+            ],
+            "object_minus_finger_midpoint": [
+              0.005395005028426075,
+              0.012042279382714953,
+              0.0
+            ],
+            "finger_gap": 0.02639110243912551,
+            "fingertip_max_gap": 0.09111682888352077,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01319555121956276,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1597488187149998,
+            "object_top_z": 1.20512527716769,
+            "finger_top_clearance": 0.045376458452690116,
+            "fingertip_min_top_clearance": 0.013612937535807034,
+            "object_projection_between_fingers": 0.8328414350625892,
+            "object_to_finger_line_xy": 0.009846978992001732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048058414441760386,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7977188963349741,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2746440393212094,
+              -0.37750374254769403,
+              0.8470195707691678
+            ],
+            "target_position": [
+              0.26671361536850535,
+              -0.3783144022764026,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007971749699116999,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18810616765764204,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195707691678,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537368967484781,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637469667590485,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15651000335600582,
+            "release_required_pad_clearance": 0.053187348337952425,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3965911844487338,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007960855960845947,
+            "max_z_decrease": 0.007960855960845947,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035128019659540224,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007960855960845947,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105431826107651,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007960855960845947,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007960880585420637,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12241353839635849,
+              -0.43457585573196406,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12241353839635849,
+              -0.43457585573196406,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1207733474254078,
+              -0.43336357166492545,
+              0.8078408026479718
+            ],
+            "closest_button": [
+              0.12240596115589142,
+              -0.43456971645355225,
+              0.7727714776992798
+            ],
+            "closest_ee_minus_button": [
+              -0.001632613730483623,
+              0.001206144788626795,
+              0.03506932494869197
+            ],
+            "button_min_z_position": [
+              0.1223945915699005,
+              -0.4345701038837433,
+              0.7688480019569397
+            ],
+            "min_active_finger_to_button": 0.14711336726829644,
+            "closest_active_finger": [
+              -0.005646161735057831,
+              -0.4982652962207794,
+              0.8108648657798767
+            ],
+            "closest_active_finger_button": [
+              0.12241420894861221,
+              -0.434575080871582,
+              0.7764201164245605
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12806037068367004,
+              -0.06369021534919744,
+              0.03444474935531616
+            ],
+            "min_contact_pad_to_button": 0.02105431826107651,
+            "closest_contact_pad": [
+              0.1223945915699005,
+              -0.4345701038837433,
+              0.7899023202180162
+            ],
+            "closest_contact_pad_button": [
+              0.1223945915699005,
+              -0.4345701038837433,
+              0.7688480019569397
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105431826107651
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1685372b1d28e92a7e84f3c482f6266ae4a26303e33e2d02b7384fd25ffb1585",
+    "visual_seed": 258358251306186125,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0f7ffa63a150ec3a7724e130e6b3cfc7e0e3bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_6_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24522177784846566,
+              -0.023329513995813532,
+              1.1599294606828074
+            ],
+            "current_z": 1.1599294606828074,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30334301287888665,
+            "gripper_z": 1.1532518496699065,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24039083461047092,
+              -0.028047032250359302,
+              1.1532518496699065
+            ],
+            "object_minus_gripper": [
+              0.004830943237994739,
+              0.00471751825454577,
+              0.006677611012900986
+            ],
+            "object_to_gripper_xy": 0.0067522582186035855,
+            "object_to_gripper_z": 0.006677611012900986,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24522177784846566,
+              -0.04723562581001521,
+              1.1599294606828074
+            ],
+            "finger_b": [
+              0.23442360098200554,
+              -0.023329513995813532,
+              1.1599294606828074
+            ],
+            "finger_midpoint": [
+              0.2398226894152356,
+              -0.03528256990291437,
+              1.1599294606828074
+            ],
+            "object_minus_finger_midpoint": [
+              0.005399088433230059,
+              0.011953055907100836,
+              0.0
+            ],
+            "finger_gap": 0.02623171373952658,
+            "fingertip_max_gap": 0.09119684440547635,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013115856869763288,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1599294606828074,
+            "object_top_z": 1.2053500637757406,
+            "finger_top_clearance": 0.045420603092933165,
+            "fingertip_min_top_clearance": 0.01362618092787995,
+            "object_projection_between_fingers": 0.8305476700990556,
+            "object_to_finger_line_xy": 0.009840852417131493,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048098422202738175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7589778909011817,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2758853064837741,
+              -0.3732794263071096,
+              0.847019470279803
+            ],
+            "target_position": [
+              0.2681693279224624,
+              -0.3743849970338281,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007794781061094553,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853127578257252,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019470279803,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758239478095339,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638424547090008,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528143365453698,
+            "release_required_pad_clearance": 0.05319212273545004,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4071994900783844,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00779116153717041,
+            "max_z_decrease": 0.00779116153717041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035134606991550146,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00779116153717041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021071942927176956,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00779116153717041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077911832014301635,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1238692551851272,
+              -0.4306464493274689,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1238692551851272,
+              -0.4306464493274689,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12365679636660018,
+              -0.42894298857734237,
+              0.8082764101664188
+            ],
+            "closest_button": [
+              0.12386942654848095,
+              -0.4306402206420899,
+              0.7731834650039673
+            ],
+            "closest_ee_minus_button": [
+              -0.00021263018188076577,
+              0.0016972320647475336,
+              0.03509294516245154
+            ],
+            "button_min_z_position": [
+              0.12385115027427668,
+              -0.4306433200836182,
+              0.7690176963806152
+            ],
+            "min_active_finger_to_button": 0.1456781527766302,
+            "closest_active_finger": [
+              -0.003094002604484558,
+              -0.4932388663291931,
+              0.8109463453292847
+            ],
+            "closest_active_finger_button": [
+              0.12387011945247645,
+              -0.4306441247463227,
+              0.7765350937843323
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.126964122056961,
+              -0.06259474158287043,
+              0.03441125154495239
+            ],
+            "min_contact_pad_to_button": 0.021071942927176956,
+            "closest_contact_pad": [
+              0.12385115027427668,
+              -0.4306433200836182,
+              0.7900896393077922
+            ],
+            "closest_contact_pad_button": [
+              0.12385115027427668,
+              -0.4306433200836182,
+              0.7690176963806152
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021071942927176956
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ff9a7946935cbbc9e569eae3c8e5b9ee9181dec0cdba795bb952eb26c784305",
+    "visual_seed": 3191363691084963383,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..77d90123cabc405aab48c6eaf1c3ac4f8920db10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_70_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24740554123833347,
+              -0.022364975982383014,
+              1.1607374529284893
+            ],
+            "current_z": 1.1607374529284893,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3041509455199237,
+            "gripper_z": 1.1539181415995672,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24257797814886137,
+              -0.027043862525878468,
+              1.1539181415995672
+            ],
+            "object_minus_gripper": [
+              0.004827563089472103,
+              0.004678886543495454,
+              0.006819311328922106
+            ],
+            "object_to_gripper_xy": 0.006722897044409967,
+            "object_to_gripper_z": 0.006819311328922106,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24740554123833347,
+              -0.046336200921989444,
+              1.1607374529284893
+            ],
+            "finger_b": [
+              0.2367354917585895,
+              -0.022364975982383014,
+              1.1607374529284893
+            ],
+            "finger_midpoint": [
+              0.24207051649846148,
+              -0.03435058845218623,
+              1.1607374529284893
+            ],
+            "object_minus_finger_midpoint": [
+              0.005335024739871991,
+              0.011985612469803213,
+              0.0
+            ],
+            "finger_gap": 0.0262387038743417,
+            "fingertip_max_gap": 0.09116570290793596,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013119351937170847,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1607374529284893,
+            "object_top_z": 1.2060995821186362,
+            "finger_top_clearance": 0.04536212919014693,
+            "fingertip_min_top_clearance": 0.013608638757044078,
+            "object_projection_between_fingers": 0.8346332807704793,
+            "object_to_finger_line_xy": 0.009747972210082749,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048082851453967984,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7828067433451092,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27803775049370233,
+              -0.37415856828090005,
+              0.8470191875853665
+            ],
+            "target_position": [
+              0.27106579105943535,
+              -0.37463091787183794,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0069879419351568444,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855860815895782,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191875853665,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515396363722161,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578504181196332,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1545581865929593,
+            "release_required_pad_clearance": 0.05289252090598166,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8232884018634263,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00798189640045166,
+            "max_z_decrease": 0.00798189640045166,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511924084540525,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00798189640045166,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021055678665368237,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00798189640045166,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007981920822077089,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12676571309566498,
+              -0.43089237809181213,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12676571309566498,
+              -0.43089237809181213,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12476565833405587,
+              -0.4308508955216981,
+              0.807812745264963
+            ],
+            "closest_button": [
+              0.12675796449184418,
+              -0.43088656663894653,
+              0.7727500796318054
+            ],
+            "closest_ee_minus_button": [
+              -0.0019923061577883094,
+              3.567111724844807e-05,
+              0.03506266563315763
+            ],
+            "button_min_z_position": [
+              0.1267467886209488,
+              -0.43088674545288086,
+              0.768826961517334
+            ],
+            "min_active_finger_to_button": 0.1479250223345203,
+            "closest_active_finger": [
+              -0.0014256611466407776,
+              -0.49619293212890625,
+              0.8108090162277222
+            ],
+            "closest_active_finger_button": [
+              0.1267663538455963,
+              -0.43089163303375244,
+              0.7763944864273071
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281920149922371,
+              -0.06530129909515381,
+              0.03441452980041504
+            ],
+            "min_contact_pad_to_button": 0.021055678665368237,
+            "closest_contact_pad": [
+              0.1267467886209488,
+              -0.4317277599151378,
+              0.7898658374077783
+            ],
+            "closest_contact_pad_button": [
+              0.1267467886209488,
+              -0.43088674545288086,
+              0.768826961517334
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008410144622569282,
+              0.021038875890444286
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc160ccaf94a3a82522772cdf17730dab5cb0ed8da74e82fffb3735e0431abb8",
+    "visual_seed": 3585443051588857754,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae542ce327562c560095dfd7711a8fe470d0f669
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_71_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2504237829079363,
+              -0.01964789086729384,
+              1.1574707020869859
+            ],
+            "current_z": 1.1574707020869859,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.3008841946784202,
+            "gripper_z": 1.1507024932386472,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24559981264413278,
+              -0.024472454280080005,
+              1.1507024932386472
+            ],
+            "object_minus_gripper": [
+              0.004823970263803545,
+              0.004824563412786167,
+              0.00676820884833873
+            ],
+            "object_to_gripper_xy": 0.006822543604115386,
+            "object_to_gripper_z": 0.00676820884833873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2504237829079363,
+              -0.04341474687569539,
+              1.1574707020869859
+            ],
+            "finger_b": [
+              0.23927790471499402,
+              -0.01964789086729384,
+              1.1574707020869859
+            ],
+            "finger_midpoint": [
+              0.24485084381146516,
+              -0.031531318871494615,
+              1.1574707020869859
+            ],
+            "object_minus_finger_midpoint": [
+              0.005572939096471163,
+              0.011883428004200777,
+              0.0
+            ],
+            "finger_gap": 0.02625060085438045,
+            "fingertip_max_gap": 0.09132947496963109,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013125300427190232,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1574707020869859,
+            "object_top_z": 1.20284933633871,
+            "finger_top_clearance": 0.04537863425172417,
+            "fingertip_min_top_clearance": 0.013613590275517251,
+            "object_projection_between_fingers": 0.8197189461229982,
+            "object_to_finger_line_xy": 0.010091292141019238,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816473748481555,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8729754629525562,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2765461027981915,
+              -0.37507397079454163,
+              0.8470198576650309
+            ],
+            "target_position": [
+              0.270021821536509,
+              -0.3754217688793866,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00653354494048697,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18711121309536916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198576650309,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075446110346946,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567510308312871,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551438747071737,
+            "release_required_pad_clearance": 0.05283755154156436,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.716545848909173,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007963120937347412,
+            "max_z_decrease": 0.007963120937347412,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035144651739360835,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007963120937347412,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021065563971386148,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007963120937347412,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007963143864932945,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1257217526435852,
+              -0.43168321251869207,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1257217526435852,
+              -0.43168321251869207,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12646033915325738,
+              -0.43018656785623954,
+              0.8079187713252057
+            ],
+            "closest_button": [
+              0.12571223080158234,
+              -0.4316776990890503,
+              0.7728137373924255
+            ],
+            "closest_ee_minus_button": [
+              0.0007481083516750475,
+              0.0014911312328107496,
+              0.035105033932780194
+            ],
+            "button_min_z_position": [
+              0.1257028728723526,
+              -0.43168026208877563,
+              0.7688457369804382
+            ],
+            "min_active_finger_to_button": 0.14490851796405352,
+            "closest_active_finger": [
+              -0.0008765608072280884,
+              -0.49325698614120483,
+              0.8107248544692993
+            ],
+            "closest_active_finger_button": [
+              0.1257217824459076,
+              -0.43168130517005926,
+              0.7763770222663879
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12659834325313568,
+              -0.061575680971145574,
+              0.03434783220291138
+            ],
+            "min_contact_pad_to_button": 0.021065563971386148,
+            "closest_contact_pad": [
+              0.1257028728723526,
+              -0.43168026208877563,
+              0.7899113009518244
+            ],
+            "closest_contact_pad_button": [
+              0.1257028728723526,
+              -0.43168026208877563,
+              0.7688457369804382
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021065563971386148
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "170f778810436d73499c273b9bbdfac480c21f824e39b6ff762cfd4fe4af4ad0",
+    "visual_seed": 510316109441440688,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c20de8744b5a080400ff137f294ada9d2a88ff77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_72_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24122469978895372,
+              -0.023621642634430368,
+              1.1597352230840525
+            ],
+            "current_z": 1.1597352230840525,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.30314871567548685,
+            "gripper_z": 1.153394412211291,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23620206312421144,
+              -0.028474045288180913,
+              1.153394412211291
+            ],
+            "object_minus_gripper": [
+              0.005022636664742286,
+              0.0048524026537505455,
+              0.006340810872761615
+            ],
+            "object_to_gripper_xy": 0.006983744739045009,
+            "object_to_gripper_z": 0.006340810872761615,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24122469978895372,
+              -0.0476531743943475,
+              1.1597352230840525
+            ],
+            "finger_b": [
+              0.23023620197665814,
+              -0.023621642634430368,
+              1.1597352230840525
+            ],
+            "finger_midpoint": [
+              0.23573045088280592,
+              -0.03563740851438893,
+              1.1597352230840525
+            ],
+            "object_minus_finger_midpoint": [
+              0.005494248906147803,
+              0.012015765879958562,
+              0.0
+            ],
+            "finger_gap": 0.02642464007131848,
+            "fingertip_max_gap": 0.09118265693582422,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013212320035659244,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1597352230840525,
+            "object_top_z": 1.2051791525637356,
+            "finger_top_clearance": 0.04544392947968312,
+            "fingertip_min_top_clearance": 0.013633178843904937,
+            "object_projection_between_fingers": 0.8270747186017949,
+            "object_to_finger_line_xy": 0.009993340815891961,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048091328467912114,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6022002925451512,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27043206385019375,
+              -0.3779230274507729,
+              0.8470193861414234
+            ],
+            "target_position": [
+              0.2624959158415888,
+              -0.3787193827583659,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0079760031964898,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18660830687544006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193861414234,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556428500525231,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866517643054265,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546171120463072,
+            "release_required_pad_clearance": 0.05332588215271325,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6687815147321943,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0078018903732299805,
+            "max_z_decrease": 0.0078018903732299805,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035121660240131636,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0078018903732299805,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021073969623637834,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0078018903732299805,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007801915447691383,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11819583922624587,
+              -0.4349808394908904,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11819583922624587,
+              -0.4349808394908904,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11760913963852251,
+              -0.4335176197385508,
+              0.8082623996513356
+            ],
+            "closest_button": [
+              0.11819759756326675,
+              -0.4349757432937621,
+              0.7731759548187256
+            ],
+            "closest_ee_minus_button": [
+              -0.0005884579247442401,
+              0.0014581235552112992,
+              0.03508644483261003
+            ],
+            "button_min_z_position": [
+              0.11817675083875655,
+              -0.43497565388679493,
+              0.7690069675445557
+            ],
+            "min_active_finger_to_button": 0.14612603769907945,
+            "closest_active_finger": [
+              -0.009475469589233398,
+              -0.4971567690372467,
+              0.8109733462333679
+            ],
+            "closest_active_finger_button": [
+              0.1181969866156578,
+              -0.43497875332832325,
+              0.7765283584594727
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276724562048912,
+              -0.06217801570892345,
+              0.034444987773895264
+            ],
+            "min_contact_pad_to_button": 0.021073969623637834,
+            "closest_contact_pad": [
+              0.11817675083875655,
+              -0.43497565388679493,
+              0.7900809371681935
+            ],
+            "closest_contact_pad_button": [
+              0.11817675083875655,
+              -0.43497565388679493,
+              0.7690069675445557
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021073969623637834
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f142c9f024598c327096a743fc0226dbfc7a56fd759cd817bd91fc16e630ea98",
+    "visual_seed": 4067017153155378864,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fee8a2aae463e7ec78bb673a1516222ed4c8d955
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_73_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24422257688360216,
+              -0.025722374530704573,
+              1.1604099984396636
+            ],
+            "current_z": 1.1604099984396636,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30382349103109807,
+            "gripper_z": 1.1538734254892484,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23922387058550149,
+              -0.030445170671729402,
+              1.1538734254892484
+            ],
+            "object_minus_gripper": [
+              0.004998706298100675,
+              0.0047227961410248286,
+              0.006536572950415209
+            ],
+            "object_to_gripper_xy": 0.006876908320193774,
+            "object_to_gripper_z": 0.006536572950415209,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24422257688360216,
+              -0.049779419287630404,
+              1.1604099984396636
+            ],
+            "finger_b": [
+              0.23347716402903068,
+              -0.025722374530704573,
+              1.1604099984396636
+            ],
+            "finger_midpoint": [
+              0.23884987045631642,
+              -0.03775089690916749,
+              1.1604099984396636
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053727064272857394,
+              0.012028522378462917,
+              0.0
+            ],
+            "finger_gap": 0.02634777599441597,
+            "fingertip_max_gap": 0.09130287530180911,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013173887997207989,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1604099984396636,
+            "object_top_z": 1.2058149268369505,
+            "finger_top_clearance": 0.045404928397286826,
+            "fingertip_min_top_clearance": 0.013621478519186015,
+            "object_projection_between_fingers": 0.8336747105793936,
+            "object_to_finger_line_xy": 0.009811183988692572,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815143765090456,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.98029464291384,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27410910538392635,
+              -0.37495538450497046,
+              0.8470195166665062
+            ],
+            "target_position": [
+              0.2663184842193307,
+              -0.37574441776046563,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00783047582261278,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18905471477539912,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195166665062,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754321635226423,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621147570439695,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1572703735563103,
+            "release_required_pad_clearance": 0.05310573785219848,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2385764734776734,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007931530475616455,
+            "max_z_decrease": 0.007931530475616455,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510390642445398,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007931530475616455,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021086875325341654,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007931530475616455,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007931558738605137,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1220184117555618,
+              -0.43200588226318365,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1220184117555618,
+              -0.43200588226318365,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12293478194459523,
+              -0.4318590952746143,
+              0.8077350285739535
+            ],
+            "closest_button": [
+              0.12200856953859328,
+              -0.4319998919963837,
+              0.7726436257362366
+            ],
+            "closest_ee_minus_button": [
+              0.00092621240600195,
+              0.0001407967217694206,
+              0.035091402837716945
+            ],
+            "button_min_z_position": [
+              0.12199772149324416,
+              -0.43200138211250305,
+              0.7688773274421692
+            ],
+            "min_active_finger_to_button": 0.1453383667396186,
+            "closest_active_finger": [
+              -0.01841733604669571,
+              -0.41752395033836365,
+              0.8109617829322815
+            ],
+            "closest_active_finger_button": [
+              0.12201981246471404,
+              -0.4320030808448792,
+              0.7764508724212646
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14043714851140976,
+              0.014479130506515558,
+              0.034510910511016846
+            ],
+            "min_contact_pad_to_button": 0.021086875325341654,
+            "closest_contact_pad": [
+              0.12199772149324416,
+              -0.43276157645391283,
+              0.7899504955843777
+            ],
+            "closest_contact_pad_button": [
+              0.12199772149324416,
+              -0.43200138211250305,
+              0.7688773274421692
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007601943414097811,
+              0.021073168142208498
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66bc4c79b592bcdd02933c7926452107400907f249a341a550e8ddff7455767f",
+    "visual_seed": 8090581080595822202,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0bab5f835b405a77a48b865d0f0f60fbd8f6350
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_74_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2441596206235933,
+              -0.02255269589181731,
+              1.1585020127218286
+            ],
+            "current_z": 1.1585020127218286,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30191550531326306,
+            "gripper_z": 1.1519889978265636,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23931207982867309,
+              -0.027313652553954515,
+              1.1519889978265636
+            ],
+            "object_minus_gripper": [
+              0.004847540794920224,
+              0.004760956662137206,
+              0.006513014895265012
+            ],
+            "object_to_gripper_xy": 0.006794509555307466,
+            "object_to_gripper_z": 0.006513014895265012,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2441596206235933,
+              -0.04651181769573739,
+              1.1585020127218286
+            ],
+            "finger_b": [
+              0.23334303705368215,
+              -0.02255269589181731,
+              1.1585020127218286
+            ],
+            "finger_midpoint": [
+              0.23875132883863773,
+              -0.03453225679377735,
+              1.1585020127218286
+            ],
+            "object_minus_finger_midpoint": [
+              0.005408291784955582,
+              0.011979560901960038,
+              0.0
+            ],
+            "finger_gap": 0.026287601597330075,
+            "fingertip_max_gap": 0.09137536063636073,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013143800798665036,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1585020127218286,
+            "object_top_z": 1.2039566399245447,
+            "finger_top_clearance": 0.04545462720271609,
+            "fingertip_min_top_clearance": 0.01363638816081486,
+            "object_projection_between_fingers": 0.8306916833697752,
+            "object_to_finger_line_xy": 0.009858481851007043,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818768031818037,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8306485594707985,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2753086984229848,
+              -0.37523905328281604,
+              0.8470195559900171
+            ],
+            "target_position": [
+              0.2684952408995214,
+              -0.3756183168540701,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006824005002967079,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18602649130025947,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195559900171,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752345678707874,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08667798162248765,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546515587920249,
+            "release_required_pad_clearance": 0.053338990811243825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6948437618508292,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007855117321014404,
+            "max_z_decrease": 0.007855117321014404,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035104622127153186,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007855117321014404,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021082698435775555,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007855117321014404,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007855142381934414,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12419516593217846,
+              -0.43187978863716125,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12419516593217846,
+              -0.43187978863716125,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12355135440093978,
+              -0.43188038909014437,
+              0.8079160325149105
+            ],
+            "closest_button": [
+              0.12418527156114573,
+              -0.43187519907951355,
+              0.7728171348571777
+            ],
+            "closest_ee_minus_button": [
+              -0.0006339171602059435,
+              -5.1900106308178096e-06,
+              0.035098897657732775
+            ],
+            "button_min_z_position": [
+              0.12417596578598017,
+              -0.4318747818470002,
+              0.7689537405967712
+            ],
+            "min_active_finger_to_button": 0.14674931471509747,
+            "closest_active_finger": [
+              -0.004170753061771393,
+              -0.49415040016174316,
+              0.8108065128326416
+            ],
+            "closest_active_finger_button": [
+              0.1241957917809486,
+              -0.43187892436981207,
+              0.7764604091644287
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12836654484271998,
+              -0.0622714757919311,
+              0.03434610366821289
+            ],
+            "min_contact_pad_to_button": 0.021082698435775555,
+            "closest_contact_pad": [
+              0.12417596578598017,
+              -0.4330342119519479,
+              0.7900045338161631
+            ],
+            "closest_contact_pad_button": [
+              0.12417596578598017,
+              -0.4318747818470002,
+              0.7689537405967712
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001159430104947734,
+              0.02105079321939185
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a8355480b6c4a45eeba16d1456a9baa5c63ddca8416acb32feaed66759ad556",
+    "visual_seed": 7154155572743828163,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c370859e1d0cde1f200f62e02579e0957bd16803
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_75_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24576175585802038,
+              -0.021698903947584443,
+              1.1581126472385204
+            ],
+            "current_z": 1.1581126472385204,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30152608022531,
+            "gripper_z": 1.1515725587102439,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24100756963179082,
+              -0.026538329273504274,
+              1.1515725587102439
+            ],
+            "object_minus_gripper": [
+              0.0047541862262295564,
+              0.004839425325919831,
+              0.006540088528276478
+            ],
+            "object_to_gripper_xy": 0.006783975542322148,
+            "object_to_gripper_z": 0.006540088528276478,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24576175585802038,
+              -0.04546074099090382,
+              1.1581126472385204
+            ],
+            "finger_b": [
+              0.23466475643215423,
+              -0.021698903947584443,
+              1.1581126472385204
+            ],
+            "finger_midpoint": [
+              0.24021325614508732,
+              -0.03357982246924413,
+              1.1581126472385204
+            ],
+            "object_minus_finger_midpoint": [
+              0.005548499712933058,
+              0.011880918521659688,
+              0.0
+            ],
+            "finger_gap": 0.026225336907863325,
+            "fingertip_max_gap": 0.09131283982701868,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013112668453931659,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1581126472385204,
+            "object_top_z": 1.2035636950644197,
+            "finger_top_clearance": 0.04545104782589937,
+            "fingertip_min_top_clearance": 0.013635314347769845,
+            "object_projection_between_fingers": 0.8209522058719048,
+            "object_to_finger_line_xy": 0.010054593119380574,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048156419913509343,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7714602056779188,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2704214167765701,
+              -0.3803961808512296,
+              0.847019581459
+            ],
+            "target_position": [
+              0.2642596958050733,
+              -0.38044853263547546,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006161943365521733,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18329723884742474,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019581459,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525174754952917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529722809499786,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15197839406386318,
+            "release_required_pad_clearance": 0.05264861404749893,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3560822520438043,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0079459547996521,
+            "max_z_decrease": 0.0079459547996521,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511692761885455,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0079459547996521,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105465454821087,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0079459547996521,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007945978743854377,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11995962262153624,
+              -0.4367100000381469,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11995962262153624,
+              -0.4367100000381469,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1182006960895586,
+              -0.43626816220832315,
+              0.8078394558006478
+            ],
+            "closest_button": [
+              0.11995163559913634,
+              -0.43670400977134705,
+              0.7727689146995544
+            ],
+            "closest_ee_minus_button": [
+              -0.0017509395095777341,
+              0.0004358475630238945,
+              0.03507054110109331
+            ],
+            "button_min_z_position": [
+              0.11994097381830214,
+              -0.43670427799224854,
+              0.7688629031181335
+            ],
+            "min_active_finger_to_button": 0.14755667056506924,
+            "closest_active_finger": [
+              -0.00917971134185791,
+              -0.49925732612609863,
+              0.8108168840408325
+            ],
+            "closest_active_finger_button": [
+              0.11995989084243772,
+              -0.43670910596847534,
+              0.7764126062393188
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12913960218429563,
+              -0.06254822015762329,
+              0.03440427780151367
+            ],
+            "min_contact_pad_to_button": 0.02105465454821087,
+            "closest_contact_pad": [
+              0.11994097381830214,
+              -0.4373833451592907,
+              0.7899066039791309
+            ],
+            "closest_contact_pad_button": [
+              0.11994097381830214,
+              -0.43670427799224854,
+              0.7688629031181335
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006790671670421911,
+              0.021043700860997383
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "843ced0f52c52bd2d8181f734e72c42b5dd67d8dd018b2622445feadfc09f78c",
+    "visual_seed": 3434013668093357609,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a81b056d757b586a792569101695baf4dfc34f0c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_76_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2450479612313304,
+              -0.02447971950731371,
+              1.1583938343575773
+            ],
+            "current_z": 1.1583938343575773,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30180738655365646,
+            "gripper_z": 1.1518155715188458,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.240208096329009,
+              -0.029163433924280155,
+              1.1518155715188458
+            ],
+            "object_minus_gripper": [
+              0.004839864902321411,
+              0.004683714416966446,
+              0.006578262838731419
+            ],
+            "object_to_gripper_xy": 0.006735092650618993,
+            "object_to_gripper_z": 0.006578262838731419,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2450479612313304,
+              -0.04860242219210575,
+              1.1583938343575773
+            ],
+            "finger_b": [
+              0.23455553466037035,
+              -0.02447971950731371,
+              1.1583938343575773
+            ],
+            "finger_midpoint": [
+              0.23980174794585038,
+              -0.03654107084970973,
+              1.1583938343575773
+            ],
+            "object_minus_finger_midpoint": [
+              0.005246213285480028,
+              0.01206135134239602,
+              0.0
+            ],
+            "finger_gap": 0.02630581304894151,
+            "fingertip_max_gap": 0.09172524338634849,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013152906524470756,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1583938343575773,
+            "object_top_z": 1.2037235893975247,
+            "finger_top_clearance": 0.045329755039947406,
+            "fingertip_min_top_clearance": 0.013598926511984221,
+            "object_projection_between_fingers": 0.8409079718105207,
+            "object_to_finger_line_xy": 0.009621663703850654,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836262169317425,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4164762086987912,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2781501738020902,
+              -0.3819845974027636,
+              0.8470191635001547
+            ],
+            "target_position": [
+              0.2719874293670671,
+              -0.38213156676005666,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0061644966512596116,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18645867702173022,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191635001547,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548184447922443,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0876198863783043,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15448309278941172,
+            "release_required_pad_clearance": 0.05380994318915215,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.628057919464473,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008122861385345459,
+            "max_z_decrease": 0.008122861385345459,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511855658136329,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008122861385345459,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020921547258976436,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008122861385345459,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008122904009518152,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12768734991550446,
+              -0.4383930265903473,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12768734991550446,
+              -0.4383930265903473,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12587226522020084,
+              -0.4366018900290891,
+              0.8037115001671908
+            ],
+            "closest_button": [
+              0.12770885229110718,
+              -0.43837785720825195,
+              0.7686859965324402
+            ],
+            "closest_ee_minus_button": [
+              -0.001836587070906337,
+              0.0017759671791628406,
+              0.035025503634750654
+            ],
+            "button_min_z_position": [
+              0.12770885229110718,
+              -0.43837785720825195,
+              0.7686859965324402
+            ],
+            "min_active_finger_to_button": 0.1467039472665586,
+            "closest_active_finger": [
+              -0.001971013844013214,
+              -0.4978499412536621,
+              0.8110225796699524
+            ],
+            "closest_active_finger_button": [
+              0.12769146263599396,
+              -0.4383952021598816,
+              0.7767468690872192
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12966247648000717,
+              -0.05945473909378052,
+              0.034275710582733154
+            ],
+            "min_contact_pad_to_button": 0.020921547258976436,
+            "closest_contact_pad": [
+              0.12770885229110718,
+              -0.43837785720825195,
+              0.7896075437914166
+            ],
+            "closest_contact_pad_button": [
+              0.12770885229110718,
+              -0.43837785720825195,
+              0.7686859965324402
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020921547258976436
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29cb99150f46159861c85e5871d71a3604061f14b6112cc04c1981004dc8b051",
+    "visual_seed": 9174551613351135032,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..289e0f37dbdf2177fe693053d4223f2896d6d6a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_77_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.25000557111763966,
+              -0.02574335847544673,
+              1.1595924265608941
+            ],
+            "current_z": 1.1595924265608941,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3030058595476838,
+            "gripper_z": 1.152798814935469,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24540711777507968,
+              -0.030481762997668346,
+              1.152798814935469
+            ],
+            "object_minus_gripper": [
+              0.004598453342559983,
+              0.004738404522221615,
+              0.006793611625425022
+            ],
+            "object_to_gripper_xy": 0.006602897133827796,
+            "object_to_gripper_z": 0.006793611625425022,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25000557111763966,
+              -0.049319355917866244,
+              1.1595924265608941
+            ],
+            "finger_b": [
+              0.2389608198800079,
+              -0.02574335847544673,
+              1.1595924265608941
+            ],
+            "finger_midpoint": [
+              0.24448319549882377,
+              -0.037531357196656484,
+              1.1595924265608941
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055223756188158835,
+              0.011787998721209753,
+              0.0
+            ],
+            "finger_gap": 0.026034864802916488,
+            "fingertip_max_gap": 0.09134205727358755,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01301743240145824,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1595924265608941,
+            "object_top_z": 1.2049936451319123,
+            "finger_top_clearance": 0.0454012185710182,
+            "fingertip_min_top_clearance": 0.013620365571305458,
+            "object_projection_between_fingers": 0.8200295412140536,
+            "object_to_finger_line_xy": 0.010001627774974924,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048171028636793775,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8569567781062161,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27849718324045425,
+              -0.3774968525050575,
+              0.8470195079775373
+            ],
+            "target_position": [
+              0.2720136833645002,
+              -0.3779217795183875,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006497409761447523,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18530829166650645,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195079775373,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547560940580737,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559086229133873,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1535804029451137,
+            "release_required_pad_clearance": 0.05279543114566937,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6367334754808824,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008221149444580078,
+            "max_z_decrease": 0.008221149444580078,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502526956131584,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008221149444580078,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021068922656914475,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008221149444580078,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008221179589820335,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12771360576152802,
+              -0.43418323993682867,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12771360576152802,
+              -0.43418323993682867,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12781536971972401,
+              -0.4356547847794571,
+              0.8035810100939319
+            ],
+            "closest_button": [
+              0.1277194321155548,
+              -0.4341617524623871,
+              0.7685877084732056
+            ],
+            "closest_ee_minus_button": [
+              9.593760416920505e-05,
+              -0.0014930323170700421,
+              0.034993301620726336
+            ],
+            "button_min_z_position": [
+              0.1277194321155548,
+              -0.4341617524623871,
+              0.7685877084732056
+            ],
+            "min_active_finger_to_button": 0.14556200595348984,
+            "closest_active_finger": [
+              -0.013090856373310089,
+              -0.42093801498413086,
+              0.811144232749939
+            ],
+            "closest_active_finger_button": [
+              0.12771643698215485,
+              -0.43418052792549133,
+              0.7767024040222168
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14080729335546494,
+              0.013242512941360474,
+              0.03444182872772217
+            ],
+            "min_contact_pad_to_button": 0.021068922656914475,
+            "closest_contact_pad": [
+              0.1277194321155548,
+              -0.4367146757368046,
+              0.7895013902312792
+            ],
+            "closest_contact_pad_button": [
+              0.1277194321155548,
+              -0.4341617524623871,
+              0.7685877084732056
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002552923274417529,
+              0.02091368175807362
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f0c2f4123b5337e48fa22e92e0f270461234cd0ec284eca0f9d54188782d9af",
+    "visual_seed": 6437159462230568689,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..678dcd75fec97a7dbd577ee4045e5b01687e7d41
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_78_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24989040563369422,
+              -0.023912981571123895,
+              1.1589540471365125
+            ],
+            "current_z": 1.1589540471365125,
+            "required_z": 0.8565863881992758,
+            "initial_z": 0.7565863881992758,
+            "lift_margin": 0.3023676589372367,
+            "gripper_z": 1.1522453856480535,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24484071798544366,
+              -0.02885701535463092,
+              1.1522453856480535
+            ],
+            "object_minus_gripper": [
+              0.0050496876482505615,
+              0.004944033783507027,
+              0.006708661488459056
+            ],
+            "object_to_gripper_xy": 0.007067023093025315,
+            "object_to_gripper_z": 0.006708661488459056,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24989040563369422,
+              -0.047833127577913685,
+              1.1589540471365125
+            ],
+            "finger_b": [
+              0.23857813930493424,
+              -0.023912981571123895,
+              1.1589540471365125
+            ],
+            "finger_midpoint": [
+              0.24423427246931423,
+              -0.03587305457451879,
+              1.1589540471365125
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056561331643799895,
+              0.011960073003394894,
+              0.0
+            ],
+            "finger_gap": 0.02646017298656489,
+            "fingertip_max_gap": 0.09111513106227256,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013230086493282445,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1589540471365125,
+            "object_top_z": 1.2043976449550695,
+            "finger_top_clearance": 0.045443597818557,
+            "fingertip_min_top_clearance": 0.0136330793455671,
+            "object_projection_between_fingers": 0.8172262239068868,
+            "object_to_finger_line_xy": 0.010226352729780827,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048057565531136284,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5533176742535463,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2786227016573244,
+              -0.3830220950780401,
+              0.8470195529946326
+            ],
+            "target_position": [
+              0.27129257946504265,
+              -0.38382326287136354,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007373775233002431,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18562039014782838,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195529946326,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535429900163429,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08501677151788474,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15416656920448682,
+            "release_required_pad_clearance": 0.05250838575894237,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0884693079575942,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00811457633972168,
+            "max_z_decrease": 0.00811457633972168,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508143870294478,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00811457633972168,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0210495957593117,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00811457633972168,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008114613026496815,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12699250876903534,
+              -0.4400847256183625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12699250876903534,
+              -0.4400847256183625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12806967996443974,
+              -0.44084295250283895,
+              0.8037508854416039
+            ],
+            "closest_button": [
+              0.12700460851192472,
+              -0.44006353616714483,
+              0.768694281578064
+            ],
+            "closest_ee_minus_button": [
+              0.0010650714525150262,
+              -0.0007794163356941164,
+              0.035056603863539926
+            ],
+            "button_min_z_position": [
+              0.12700460851192472,
+              -0.44006353616714483,
+              0.768694281578064
+            ],
+            "min_active_finger_to_button": 0.14465130174154653,
+            "closest_active_finger": [
+              -0.012576185166835785,
+              -0.42386800050735474,
+              0.8107742667198181
+            ],
+            "closest_active_finger_button": [
+              0.12699218094348905,
+              -0.440083384513855,
+              0.7763979434967041
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13956836611032483,
+              0.016215384006500244,
+              0.034376323223114014
+            ],
+            "min_contact_pad_to_button": 0.0210495957593117,
+            "closest_contact_pad": [
+              0.12700460851192472,
+              -0.44210338066323696,
+              0.7896448070144867
+            ],
+            "closest_contact_pad_button": [
+              0.12700460851192472,
+              -0.44006353616714483,
+              0.768694281578064
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020398444960921247,
+              0.02095052543642273
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c689cf197b67f7a9ccb071c7653cdc370b59205859eb06e1625ec1d5b26e3f1c",
+    "visual_seed": 6425852833834921317,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63166aa8fdf10a9424030647cf2bc53292514805
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_79_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24168300597916295,
+              -0.017740121007441826,
+              1.1592322332765865
+            ],
+            "current_z": 1.1592322332765865,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30264572586802096,
+            "gripper_z": 1.1527844056223997,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2367456711695679,
+              -0.022548074868842333,
+              1.1527844056223997
+            ],
+            "object_minus_gripper": [
+              0.004937334809595045,
+              0.004807953861400507,
+              0.006447827654186833
+            ],
+            "object_to_gripper_xy": 0.006891566973874301,
+            "object_to_gripper_z": 0.006447827654186833,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24168300597916295,
+              -0.041736638725360216,
+              1.1592322332765865
+            ],
+            "finger_b": [
+              0.23076145772892753,
+              -0.017740121007441826,
+              1.1592322332765865
+            ],
+            "finger_midpoint": [
+              0.23622223185404523,
+              -0.029738379866401023,
+              1.1592322332765865
+            ],
+            "object_minus_finger_midpoint": [
+              0.005460774125117723,
+              0.011998258858959197,
+              0.0
+            ],
+            "finger_gap": 0.026364997226789,
+            "fingertip_max_gap": 0.09117935860175178,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013182498613394506,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1592322332765865,
+            "object_top_z": 1.2046202408160038,
+            "finger_top_clearance": 0.0453880075394173,
+            "fingertip_min_top_clearance": 0.013616402261825223,
+            "object_projection_between_fingers": 0.8284017092678966,
+            "object_to_finger_line_xy": 0.009940419255101656,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808967930087589,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7528871829099485,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2727532079754129,
+              -0.375141631092736,
+              0.847019759723249
+            ],
+            "target_position": [
+              0.26606807736796745,
+              -0.3755737194203091,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006699079904093478,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186299980787205,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019759723249,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559396994259632,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660641977001461,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15408452083480814,
+            "release_required_pad_clearance": 0.05330320988500731,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6245762443523626,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007742762565612793,
+            "max_z_decrease": 0.007742762565612793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035125075228157165,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007742762565612793,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021073646560709043,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007742762565612793,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007742782461202502,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12176800519227982,
+              -0.43183517456054693,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12176800519227982,
+              -0.43183517456054693,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12019800569316502,
+              -0.43173036704141626,
+              0.8073750391048082
+            ],
+            "closest_button": [
+              0.12175636738538743,
+              -0.4318282306194306,
+              0.7722846865653992
+            ],
+            "closest_ee_minus_button": [
+              -0.0015583616922224125,
+              9.786357801433443e-05,
+              0.035090352539409064
+            ],
+            "button_min_z_position": [
+              0.12175112962722778,
+              -0.4318303465843201,
+              0.7690660953521729
+            ],
+            "min_active_finger_to_button": 0.1474996012624349,
+            "closest_active_finger": [
+              -0.007804758846759796,
+              -0.493364155292511,
+              0.8108442425727844
+            ],
+            "closest_active_finger_button": [
+              0.12176898121833803,
+              -0.4318355619907379,
+              0.7764784097671509
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1295737400650978,
+              -0.06152859330177307,
+              0.034365832805633545
+            ],
+            "min_contact_pad_to_button": 0.021073646560709043,
+            "closest_contact_pad": [
+              0.12175112962722778,
+              -0.43299082507647474,
+              0.7901077651774251
+            ],
+            "closest_contact_pad_button": [
+              0.12175112962722778,
+              -0.4318303465843201,
+              0.7690660953521729
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011604784921546152,
+              0.02104166982525224
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9db0dbd9900d48df14c50e5263a2bdcc67ec3bef4fd3ca886e3db4b792014baa",
+    "visual_seed": 437918605998490867,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cc49f9ab20464bcd831ce89a128afa8746ba548
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_7_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24935619124491923,
+              -0.026770000094686535,
+              1.159427527662181
+            ],
+            "current_z": 1.159427527662181,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3028410202536155,
+            "gripper_z": 1.152719060655967,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24451265150644433,
+              -0.03162406200129193,
+              1.152719060655967
+            ],
+            "object_minus_gripper": [
+              0.0048435397384749,
+              0.004854061906605398,
+              0.0067084670062140805
+            ],
+            "object_to_gripper_xy": 0.006857243920945436,
+            "object_to_gripper_z": 0.0067084670062140805,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24935619124491923,
+              -0.050521665639417415,
+              1.159427527662181
+            ],
+            "finger_b": [
+              0.23815771743386777,
+              -0.026770000094686535,
+              1.159427527662181
+            ],
+            "finger_midpoint": [
+              0.24375695433939348,
+              -0.03864583286705198,
+              1.159427527662181
+            ],
+            "object_minus_finger_midpoint": [
+              0.005599236905525745,
+              0.011875832772365442,
+              0.0
+            ],
+            "finger_gap": 0.026259235172517145,
+            "fingertip_max_gap": 0.09103254355664339,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01312961758625858,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159427527662181,
+            "object_top_z": 1.2048011224420399,
+            "finger_top_clearance": 0.045373594779858806,
+            "fingertip_min_top_clearance": 0.013612078433957642,
+            "object_projection_between_fingers": 0.8181331553057068,
+            "object_to_finger_line_xy": 0.010129099451072323,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480162717783217,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6045833077016295,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2743219527216093,
+              -0.37833827562293254,
+              0.8470197878473386
+            ],
+            "target_position": [
+              0.26796387737038513,
+              -0.37869874308703305,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006368285402250713,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18433043896525636,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197878473386,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758008808426418,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862067888759588,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15167195509241102,
+            "release_required_pad_clearance": 0.0531033944379794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2341450238274467,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00820547342300415,
+            "max_z_decrease": 0.00820547342300415,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350232898575076,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00820547342300415,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021088868607413686,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00820547342300415,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008205551798341064,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12366380542516707,
+              -0.4349602162837982,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12366380542516707,
+              -0.4349602162837982,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1232527288556017,
+              -0.4366387523156558,
+              0.8036515726009141
+            ],
+            "closest_button": [
+              0.12368857115507123,
+              -0.43493860960006714,
+              0.7686722874641418
+            ],
+            "closest_ee_minus_button": [
+              -0.00043584229946952435,
+              -0.0017001427155886595,
+              0.03497928513677229
+            ],
+            "button_min_z_position": [
+              0.12369064986705777,
+              -0.4349364340305328,
+              0.7686033844947815
+            ],
+            "min_active_finger_to_button": 0.1460961026020301,
+            "closest_active_finger": [
+              -0.01778388023376465,
+              -0.42293787002563477,
+              0.8112136721611023
+            ],
+            "closest_active_finger_button": [
+              0.12366766482591626,
+              -0.43495696783065796,
+              0.7767017483711243
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1414515450596809,
+              0.012019097805023193,
+              0.03451192378997803
+            ],
+            "min_contact_pad_to_button": 0.021088868607413686,
+            "closest_contact_pad": [
+              0.12369064986705777,
+              -0.43761488521968556,
+              0.7895214694541673
+            ],
+            "closest_contact_pad_button": [
+              0.12369064986705777,
+              -0.4349364340305328,
+              0.7686033844947815
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002678451189152775,
+              0.020918084959385852
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ebee6f9f35df1dbd9c61eb642a93563804c2dd59f4fa2bf27ec3e47f21addbe",
+    "visual_seed": 8820807818498752075,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdd7ce974b5eca35206101e9ca1bded7864d2c69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_80_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24595356597227444,
+              -0.021281114241165935,
+              1.1568497879663655
+            ],
+            "current_z": 1.1568497879663655,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30026328055779994,
+            "gripper_z": 1.1501836774468412,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24113637925284823,
+              -0.02602276279633388,
+              1.1501836774468412
+            ],
+            "object_minus_gripper": [
+              0.004817186719426214,
+              0.004741648555167944,
+              0.00666611051952426
+            ],
+            "object_to_gripper_xy": 0.006759328288413172,
+            "object_to_gripper_z": 0.00666611051952426,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24595356597227444,
+              -0.045190346550191766,
+              1.1568497879663655
+            ],
+            "finger_b": [
+              0.23512934639509844,
+              -0.021281114241165935,
+              1.1568497879663655
+            ],
+            "finger_midpoint": [
+              0.24054145618368644,
+              -0.03323573039567885,
+              1.1568497879663655
+            ],
+            "object_minus_finger_midpoint": [
+              0.005412109788587999,
+              0.011954616154512914,
+              0.0
+            ],
+            "finger_gap": 0.02624528755913878,
+            "fingertip_max_gap": 0.09119206046022368,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013122643779569388,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1568497879663655,
+            "object_top_z": 1.2022147154762068,
+            "finger_top_clearance": 0.045364927509841335,
+            "fingertip_min_top_clearance": 0.0136094782529524,
+            "object_projection_between_fingers": 0.8299054039137693,
+            "object_to_finger_line_xy": 0.00986077138044125,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048096030230111844,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7750023027213684,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27421787389351315,
+              -0.3822989429582593,
+              0.8470196349098756
+            ],
+            "target_position": [
+              0.26677099884114,
+              -0.3832775006524548,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00751089363568193,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1877742097431724,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196349098756,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556958164365873,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08609896882289185,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15578923028805533,
+            "release_required_pad_clearance": 0.05304948441144593,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.128811985113442,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008087635040283203,
+            "max_z_decrease": 0.008087635040283203,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035114921898327316,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008087635040283203,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020989811664629883,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008087635040283203,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008087653621937961,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12247092276811598,
+              -0.4395389556884766,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12247092276811598,
+              -0.4395389556884766,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1210079453619787,
+              -0.4386038276946108,
+              0.8037932826782002
+            ],
+            "closest_button": [
+              0.12247857451438901,
+              -0.4395233988761902,
+              0.7687212228775024
+            ],
+            "closest_ee_minus_button": [
+              -0.0014706291524103077,
+              0.0009195711815793706,
+              0.03507205980069772
+            ],
+            "button_min_z_position": [
+              0.12247857451438901,
+              -0.4395233988761902,
+              0.7687212228775024
+            ],
+            "min_active_finger_to_button": 0.14676200799376765,
+            "closest_active_finger": [
+              -0.0065947026014328,
+              -0.5003769397735596,
+              0.8105941414833069
+            ],
+            "closest_active_finger_button": [
+              0.12247178703546523,
+              -0.4395377039909363,
+              0.7762500643730164
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12906648963689804,
+              -0.06083923578262329,
+              0.03434407711029053
+            ],
+            "min_contact_pad_to_button": 0.020989811664629883,
+            "closest_contact_pad": [
+              0.12247857451438901,
+              -0.43990831821997717,
+              0.789707504844907
+            ],
+            "closest_contact_pad_button": [
+              0.12247857451438901,
+              -0.4395233988761902,
+              0.7687212228775024
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00038491934378698245,
+              0.020986281967404596
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "658b03e2a96b99a56259321262346c66c4b341a91bc07c7e8c3d4a6ea2dc8c82",
+    "visual_seed": 698482251598096480,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60adb95021209230dd8c1ee1b10fe8fd86c8116b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_81_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24583596715766967,
+              -0.02023919231038823,
+              1.1595090795580059
+            ],
+            "current_z": 1.1595090795580059,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.30292269135872985,
+            "gripper_z": 1.1529478824681845,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24086107533808424,
+              -0.02520083396597693,
+              1.1529478824681845
+            ],
+            "object_minus_gripper": [
+              0.004974891819585436,
+              0.004961641655588701,
+              0.006561197089821391
+            ],
+            "object_to_gripper_xy": 0.007026196448652078,
+            "object_to_gripper_z": 0.006561197089821391,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24583596715766967,
+              -0.044074452706802277,
+              1.1595090795580059
+            ],
+            "finger_b": [
+              0.234464609751448,
+              -0.02023919231038823,
+              1.1595090795580059
+            ],
+            "finger_midpoint": [
+              0.24015028845455882,
+              -0.03215682250859525,
+              1.1595090795580059
+            ],
+            "object_minus_finger_midpoint": [
+              0.005685678703110847,
+              0.011917630198207022,
+              0.0
+            ],
+            "finger_gap": 0.026408850929657963,
+            "fingertip_max_gap": 0.09101645065510991,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013204425464828987,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1595090795580059,
+            "object_top_z": 1.2048840351939234,
+            "finger_top_clearance": 0.045374955635917535,
+            "fingertip_min_top_clearance": 0.01361248669077526,
+            "object_projection_between_fingers": 0.8145932209095796,
+            "object_to_finger_line_xy": 0.01026319795434945,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800822532755496,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6043063313627914,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2708892848897584,
+              -0.38368703088384515,
+              0.8470196717509519
+            ],
+            "target_position": [
+              0.264644944505051,
+              -0.38392408085039537,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062488382541660585,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18751811903104754,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196717509519,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551913052009063,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504404585539414,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1555204256730467,
+            "release_required_pad_clearance": 0.052522022927697073,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11189216989723295,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008135318756103516,
+            "max_z_decrease": 0.008135318756103516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035047448405817604,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008135318756103516,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020925317597927595,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008135318756103516,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00813537669187803,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12034486979246137,
+              -0.440185546875,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12034486979246137,
+              -0.440185546875,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11902873898069335,
+              -0.4386589685794396,
+              0.8036628550592447
+            ],
+            "closest_button": [
+              0.12036934494972226,
+              -0.4401670098304748,
+              0.7686735391616821
+            ],
+            "closest_ee_minus_button": [
+              -0.0013406059690289074,
+              0.0015080412510352081,
+              0.0349893158975626
+            ],
+            "button_min_z_position": [
+              0.12036934494972226,
+              -0.4401670098304748,
+              0.7686735391616821
+            ],
+            "min_active_finger_to_button": 0.14641736569316918,
+            "closest_active_finger": [
+              -0.00761953741312027,
+              -0.5024507641792297,
+              0.8105640411376953
+            ],
+            "closest_active_finger_button": [
+              0.12034597247838971,
+              -0.4401828050613403,
+              0.7761318683624268
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12796550989150998,
+              -0.06226795911788946,
+              0.034432172775268555
+            ],
+            "min_contact_pad_to_button": 0.020925317597927595,
+            "closest_contact_pad": [
+              0.12036934494972226,
+              -0.4401670098304748,
+              0.7895988567596097
+            ],
+            "closest_contact_pad_button": [
+              0.12036934494972226,
+              -0.4401670098304748,
+              0.7686735391616821
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020925317597927595
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec472d314bbbae49f464dfaf5571844014a6f1ba0fa659b16f487faff39e9193",
+    "visual_seed": 6324404999156350305,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..abd6737792dd8a745b884834f4ef6af2e5491635
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_82_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2434249895589341,
+              -0.024075364753676273,
+              1.1589015200068287
+            ],
+            "current_z": 1.1589015200068287,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3023150125982631,
+            "gripper_z": 1.1523225258291208,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2385723116584188,
+              -0.028934465388357505,
+              1.1523225258291208
+            ],
+            "object_minus_gripper": [
+              0.004852677900515301,
+              0.004859100634681233,
+              0.006578994177707909
+            ],
+            "object_to_gripper_xy": 0.006867265961364038,
+            "object_to_gripper_z": 0.006578994177707909,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2434249895589341,
+              -0.04785386894413174,
+              1.1589015200068287
+            ],
+            "finger_b": [
+              0.23227247795452505,
+              -0.024075364753676273,
+              1.1589015200068287
+            ],
+            "finger_midpoint": [
+              0.23784873375672957,
+              -0.03596461684890401,
+              1.1589015200068287
+            ],
+            "object_minus_finger_midpoint": [
+              0.005576255802204527,
+              0.011889252095227735,
+              0.0
+            ],
+            "finger_gap": 0.026263963459881426,
+            "fingertip_max_gap": 0.09095651719452869,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013131981729940715,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1589015200068287,
+            "object_top_z": 1.2043202389453782,
+            "finger_top_clearance": 0.04541871893854954,
+            "fingertip_min_top_clearance": 0.013625615681564895,
+            "object_projection_between_fingers": 0.81968791444973,
+            "object_to_finger_line_xy": 0.010097106795195838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047978258597264345,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4870012200031604,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2690798999752481,
+              -0.383170479887317,
+              0.8470195089268151
+            ],
+            "target_position": [
+              0.2623557761220369,
+              -0.38371229969352566,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006745918046917243,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466727963127422,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195089268151,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757630755694115,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15218650503941988,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008043348789215088,
+            "max_z_decrease": 0.008043348789215088,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510847680572306,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008043348789215088,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106009128444973,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008043348789215088,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008043363151994895,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11805570125579834,
+              -0.4399737715721131,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11805570125579834,
+              -0.4399737715721131,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.116411219615877,
+              -0.4399990185204961,
+              0.8076135372612628
+            ],
+            "closest_button": [
+              0.11804677546024323,
+              -0.4399677515029908,
+              0.77254319190979
+            ],
+            "closest_ee_minus_button": [
+              -0.0016355558443662266,
+              -3.1267017505332007e-05,
+              0.0350703453514728
+            ],
+            "button_min_z_position": [
+              0.1180436536669731,
+              -0.43996450304985046,
+              0.7687655091285706
+            ],
+            "min_active_finger_to_button": 0.14764722707227754,
+            "closest_active_finger": [
+              -0.011243462562561035,
+              -0.502405047416687,
+              0.8107336759567261
+            ],
+            "closest_active_finger_button": [
+              0.1180564761161804,
+              -0.43997257947921753,
+              0.7763328552246094
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12929993867874146,
+              -0.06243246793746948,
+              0.0344008207321167
+            ],
+            "min_contact_pad_to_button": 0.02106009128444973,
+            "closest_contact_pad": [
+              0.1180436536669731,
+              -0.4411699043772061,
+              0.7897910757689578
+            ],
+            "closest_contact_pad_button": [
+              0.1180436536669731,
+              -0.43996450304985046,
+              0.7687655091285706
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012054013273556374,
+              0.02102556664038724
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "441316ae999fe13f6d10c907147c331453266a66831097a94fa28decfd0bddaa",
+    "visual_seed": 3062943684242884576,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8cbd1c83e0597731894cc2ca59e533deb20a64f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_83_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24031255629666834,
+              -0.02547513881525633,
+              1.1586733857664078
+            ],
+            "current_z": 1.1586733857664078,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3020868783578422,
+            "gripper_z": 1.1522234207795128,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23556301722643955,
+              -0.03018366298689021,
+              1.1522234207795128
+            ],
+            "object_minus_gripper": [
+              0.004749539070228792,
+              0.004708524171633879,
+              0.006449964986894985
+            ],
+            "object_to_gripper_xy": 0.006687923538325651,
+            "object_to_gripper_z": 0.006449964986894985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24031255629666834,
+              -0.04930750875353696,
+              1.1586733857664078
+            ],
+            "finger_b": [
+              0.22954408389093717,
+              -0.02547513881525633,
+              1.1586733857664078
+            ],
+            "finger_midpoint": [
+              0.23492832009380277,
+              -0.03739132378439665,
+              1.1586733857664078
+            ],
+            "object_minus_finger_midpoint": [
+              0.005384236202865572,
+              0.01191618496914032,
+              0.0
+            ],
+            "finger_gap": 0.02615228201951134,
+            "fingertip_max_gap": 0.09135064054839673,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013076141009755668,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1586733857664078,
+            "object_top_z": 1.2040897346729507,
+            "finger_top_clearance": 0.04541634890654289,
+            "fingertip_min_top_clearance": 0.0136249046719629,
+            "object_projection_between_fingers": 0.8304534265092663,
+            "object_to_finger_line_xy": 0.009813224629960902,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048175320274198366,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7954550464771212,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27169297323870967,
+              -0.38124930584778244,
+              0.8470195649960864
+            ],
+            "target_position": [
+              0.2638184405056989,
+              -0.3821911784008473,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007930661363938997,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18801943945169372,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195649960864,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547777851946724,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555588184632705,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15607659366202628,
+            "release_required_pad_clearance": 0.05277794092316353,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.603929257370153,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008218109607696533,
+            "max_z_decrease": 0.008218109607696533,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501433780177317,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008218109607696533,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02105513595484316,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008218109607696533,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008218144365664704,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11951836943626401,
+              -0.4384526312351226,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11951836943626401,
+              -0.4384526312351226,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11917274347045903,
+              -0.4396289326128369,
+              0.8036511700789434
+            ],
+            "closest_button": [
+              0.11953344941139218,
+              -0.43843144178390503,
+              0.7686591744422913
+            ],
+            "closest_ee_minus_button": [
+              -0.00036070594093315367,
+              -0.0011974908289318908,
+              0.03499199563665212
+            ],
+            "button_min_z_position": [
+              0.11952839791774748,
+              -0.4384309351444244,
+              0.7685907483100891
+            ],
+            "min_active_finger_to_button": 0.14609486745558437,
+            "closest_active_finger": [
+              -0.021827109158039093,
+              -0.42535001039505005,
+              0.8106362819671631
+            ],
+            "closest_active_finger_button": [
+              0.11952029913663861,
+              -0.4384495019912719,
+              0.7760961055755615
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1413474082946777,
+              0.013099491596221868,
+              0.03454017639160156
+            ],
+            "min_contact_pad_to_button": 0.02105513595484316,
+            "closest_contact_pad": [
+              0.11952839791774748,
+              -0.4406486873235609,
+              0.7895287598047097
+            ],
+            "closest_contact_pad_button": [
+              0.11952839791774748,
+              -0.4384309351444244,
+              0.7685907483100891
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022177521791365007,
+              0.0209380114946206
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46cc7134b1cf18c265a00e2b2f8ebde61e41aca9dfc39d560befb2afb894f74c",
+    "visual_seed": 5445797511582646298,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..813cab8ffca0c07af2243b7c3f9ba5a5c8be2eef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_84_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2483027056760307,
+              -0.01841783659200464,
+              1.1586365003051298
+            ],
+            "current_z": 1.1586365003051298,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.30205005250120887,
+            "gripper_z": 1.1518293604417438,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24334795014511737,
+              -0.02310116445226948,
+              1.1518293604417438
+            ],
+            "object_minus_gripper": [
+              0.0049547555309133184,
+              0.0046833278602648395,
+              0.006807139863385991
+            ],
+            "object_to_gripper_xy": 0.006817856130621191,
+            "object_to_gripper_z": 0.006807139863385991,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2483027056760307,
+              -0.04255008619451223,
+              1.1586365003051298
+            ],
+            "finger_b": [
+              0.23772887244936192,
+              -0.01841783659200464,
+              1.1586365003051298
+            ],
+            "finger_midpoint": [
+              0.2430157890626963,
+              -0.030483961393258433,
+              1.1586365003051298
+            ],
+            "object_minus_finger_midpoint": [
+              0.005286916613334386,
+              0.012066124801253793,
+              0.0
+            ],
+            "finger_gap": 0.026347133050545216,
+            "fingertip_max_gap": 0.09080091090443287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013173566525272608,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1586365003051298,
+            "object_top_z": 1.2040426462109584,
+            "finger_top_clearance": 0.04540614590582859,
+            "fingertip_min_top_clearance": 0.013621843771748576,
+            "object_projection_between_fingers": 0.8389361101784898,
+            "object_to_finger_line_xy": 0.00968493923766701,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790045545221644,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.44001148805642576,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27626848944583177,
+              -0.37286501094235197,
+              0.8470214864379395
+            ],
+            "target_position": [
+              0.2674879637990537,
+              -0.37405962600171017,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00886141838385778,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1900251424533892,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470214864379395,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535657015898964,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859389600811767,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1584793105692924,
+            "release_required_pad_clearance": 0.05296948004058835,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.965070778628713,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00806969404220581,
+            "max_z_decrease": 0.00806969404220581,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351002554325962,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00806969404220581,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02109357419851459,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00806969404220581,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008069704943873756,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12318789213895792,
+              -0.4303210973739624,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12318789213895792,
+              -0.4303210973739624,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12223553593792086,
+              -0.43090798019524057,
+              0.8038213999223158
+            ],
+            "closest_button": [
+              0.12318661063909526,
+              -0.43030789494514465,
+              0.7687391638755798
+            ],
+            "closest_ee_minus_button": [
+              -0.0009510747011744064,
+              -0.0006000852500959164,
+              0.03508223604673599
+            ],
+            "button_min_z_position": [
+              0.12318661063909526,
+              -0.43030789494514465,
+              0.7687391638755798
+            ],
+            "min_active_finger_to_button": 0.14664821539525497,
+            "closest_active_finger": [
+              -0.01841580867767334,
+              -0.4139195680618286,
+              0.8110256195068359
+            ],
+            "closest_active_finger_button": [
+              0.12318855524063108,
+              -0.43031996488571167,
+              0.7766028046607971
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14160436391830442,
+              0.016400396823883057,
+              0.03442281484603882
+            ],
+            "min_contact_pad_to_button": 0.02109357419851459,
+            "closest_contact_pad": [
+              0.12318661063909526,
+              -0.4321729146396808,
+              0.7897501270616699
+            ],
+            "closest_contact_pad_button": [
+              0.12318661063909526,
+              -0.43030789494514465,
+              0.7687391638755798
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018650196945361741,
+              0.02101096318609008
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e4fc9202e4b7232d7403d8bc412f00532916009cd43fbd86f77b3f0edaf1bad",
+    "visual_seed": 8657294621855731455,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cad40221c44cece7d75fadec86b529c2cb2691c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_85_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24848748745729,
+              -0.02409727687935578,
+              1.1586623745840912
+            ],
+            "current_z": 1.1586623745840912,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.30207598638481514,
+            "gripper_z": 1.1518910647391565,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24387018898386126,
+              -0.02881329826053418,
+              1.1518910647391565
+            ],
+            "object_minus_gripper": [
+              0.0046172984734287326,
+              0.004716021381178399,
+              0.006771309844934681
+            ],
+            "object_to_gripper_xy": 0.006600022943934295,
+            "object_to_gripper_z": 0.006771309844934681,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24848748745729,
+              -0.047848338076724624,
+              1.1586623745840912
+            ],
+            "finger_b": [
+              0.23766556197183428,
+              -0.02409727687935578,
+              1.1586623745840912
+            ],
+            "finger_midpoint": [
+              0.24307652471456215,
+              -0.0359728074780402,
+              1.1586623745840912
+            ],
+            "object_minus_finger_midpoint": [
+              0.005410962742727843,
+              0.01187553059868442,
+              0.0
+            ],
+            "finger_gap": 0.026100325270270404,
+            "fingertip_max_gap": 0.09135920247538626,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013050162635135195,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1586623745840912,
+            "object_top_z": 1.2041093779354033,
+            "finger_top_clearance": 0.04544700335131213,
+            "fingertip_min_top_clearance": 0.01363410100539364,
+            "object_projection_between_fingers": 0.8280836273573653,
+            "object_to_finger_line_xy": 0.009847854837701859,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817960123769313,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.825345375074505,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26999482847266676,
+              -0.3770418675114905,
+              0.8470196696389483
+            ],
+            "target_position": [
+              0.26377588213084663,
+              -0.3771960862891756,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006220858223254142,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18569861075191782,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196696389483,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753952285895315,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632919932452095,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1539703450946233,
+            "release_required_pad_clearance": 0.053164599662260476,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3533281966927657,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007772982120513916,
+            "max_z_decrease": 0.007772982120513916,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510433979975568,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007772982120513916,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02114701582634665,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007772982120513916,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007773005227468987,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1194758117198944,
+              -0.43345755338668823,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1194758117198944,
+              -0.43345755338668823,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11884541500967916,
+              -0.4343816527052243,
+              0.8079800829445637
+            ],
+            "closest_button": [
+              0.11946621537208554,
+              -0.43345195055007935,
+              0.7728935480117798
+            ],
+            "closest_ee_minus_button": [
+              -0.0006208003624063874,
+              -0.0009297021551449292,
+              0.03508653493278391
+            ],
+            "button_min_z_position": [
+              0.1194573789834976,
+              -0.43345314264297485,
+              0.7690358757972717
+            ],
+            "min_active_finger_to_button": 0.1467082724610281,
+            "closest_active_finger": [
+              -0.022221766412258148,
+              -0.41741669178009033,
+              0.8110120892524719
+            ],
+            "closest_active_finger_button": [
+              0.11947637796401976,
+              -0.4334563910961151,
+              0.7765493392944336
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14169814437627792,
+              0.01603969931602478,
+              0.03446274995803833
+            ],
+            "min_contact_pad_to_button": 0.02114701582634665,
+            "closest_contact_pad": [
+              0.1194573789834976,
+              -0.43549181089593964,
+              0.7900843938000697
+            ],
+            "closest_contact_pad_button": [
+              0.1194573789834976,
+              -0.43345314264297485,
+              0.7690358757972717
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020386682529647815,
+              0.021048518002797945
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d928c9772e8cac2946ba9dfa1d46c41d6edd9ab0abd3d8ad2978c173290e4fa",
+    "visual_seed": 256373152147486199,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d31d1cc86ae6dd54912726115f9f51ba818c91c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_86_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24597281552853728,
+              -0.021854112861337708,
+              1.1604606565610325
+            ],
+            "current_z": 1.1604606565610325,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3038742087571117,
+            "gripper_z": 1.1537982643353661,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24106609937073892,
+              -0.02663408720202126,
+              1.1537982643353661
+            ],
+            "object_minus_gripper": [
+              0.004906716157798363,
+              0.004779974340683554,
+              0.006662392225666336
+            ],
+            "object_to_gripper_xy": 0.006850110813030159,
+            "object_to_gripper_z": 0.006662392225666336,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24597281552853728,
+              -0.045792723829396545,
+              1.1604606565610325
+            ],
+            "finger_b": [
+              0.2350457763617637,
+              -0.021854112861337708,
+              1.1604606565610325
+            ],
+            "finger_midpoint": [
+              0.24050929594515047,
+              -0.033823418345367125,
+              1.1604606565610325
+            ],
+            "object_minus_finger_midpoint": [
+              0.005463519583386811,
+              0.011969305484029417,
+              0.0
+            ],
+            "finger_gap": 0.026314583029800623,
+            "fingertip_max_gap": 0.09102593705344225,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013157291514900317,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1604606565610325,
+            "object_top_z": 1.2058117172982756,
+            "finger_top_clearance": 0.045351060737243154,
+            "fingertip_min_top_clearance": 0.013605318221172913,
+            "object_projection_between_fingers": 0.8275703232600289,
+            "object_to_finger_line_xy": 0.009940425024022011,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801296852672113,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6550678520696319,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27307041297970425,
+              -0.3747467605879665,
+              0.8470184831195986
+            ],
+            "target_position": [
+              0.26653201074398697,
+              -0.37500025129192105,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006543314246849533,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18634499266033103,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470184831195986,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540725427403722,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583466010064976,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15447035572005532,
+            "release_required_pad_clearance": 0.05291733005032488,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8686195542071664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008080840110778809,
+            "max_z_decrease": 0.008080840110778809,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513712326848959,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008080840110778809,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021024030297118967,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008080840110778809,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008080851370425446,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12223193794488904,
+              -0.43126171827316284,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12223193794488904,
+              -0.43126171827316284,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12207661903535436,
+              -0.4294027922236867,
+              0.8038162834788246
+            ],
+            "closest_button": [
+              0.12223406136035915,
+              -0.4312483966350555,
+              0.7687280178070068
+            ],
+            "closest_ee_minus_button": [
+              -0.0001574423250047946,
+              0.001845604411368773,
+              0.035088265671817775
+            ],
+            "button_min_z_position": [
+              0.12223406136035915,
+              -0.4312483966350555,
+              0.7687280178070068
+            ],
+            "min_active_finger_to_button": 0.14523984469809198,
+            "closest_active_finger": [
+              -0.00497957319021225,
+              -0.4923320412635803,
+              0.810952365398407
+            ],
+            "closest_active_finger_button": [
+              0.12223280221223828,
+              -0.43125963211059565,
+              0.7765752673149109
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12721237540245053,
+              -0.061072409152984675,
+              0.034377098083496094
+            ],
+            "min_contact_pad_to_button": 0.021024030297118967,
+            "closest_contact_pad": [
+              0.12223406136035915,
+              -0.4312483966350555,
+              0.7897520481041258
+            ],
+            "closest_contact_pad_button": [
+              0.12223406136035915,
+              -0.4312483966350555,
+              0.7687280178070068
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021024030297118967
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f04c20c199a8a05df5a9f6dda7a9ac3193212668fabe6b359f8a7ddce41f7723",
+    "visual_seed": 7709500487966019408,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8965edeab5cd26176d3b01fd320bc962cd9ff2e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_87_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2486607169264098,
+              -0.02104135992731216,
+              1.1573299431712516
+            ],
+            "current_z": 1.1573299431712516,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.3007434953673307,
+            "gripper_z": 1.1506382065988334,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2438633176986206,
+              -0.025937712207251537,
+              1.1506382065988334
+            ],
+            "object_minus_gripper": [
+              0.004797399227789212,
+              0.004896352279939377,
+              0.006691736572418172
+            ],
+            "object_to_gripper_xy": 0.006854874542984726,
+            "object_to_gripper_z": 0.006691736572418172,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2486607169264098,
+              -0.04475726899552667,
+              1.1573299431712516
+            ],
+            "finger_b": [
+              0.2373998996732902,
+              -0.02104135992731216,
+              1.1573299431712516
+            ],
+            "finger_midpoint": [
+              0.24303030829985,
+              -0.032899314461419416,
+              1.1573299431712516
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056304086265598075,
+              0.011857954534107255,
+              0.0
+            ],
+            "finger_gap": 0.026253577815984922,
+            "fingertip_max_gap": 0.09132108303448574,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013126788907992461,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1573299431712516,
+            "object_top_z": 1.2027125764723694,
+            "finger_top_clearance": 0.0453826333011178,
+            "fingertip_min_top_clearance": 0.01361478999033534,
+            "object_projection_between_fingers": 0.8160232990083247,
+            "object_to_finger_line_xy": 0.010172347551279718,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048160541517242875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9339628799435703,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2715379513740729,
+              -0.3760085344814115,
+              0.847019261096567
+            ],
+            "target_position": [
+              0.26532680726145125,
+              -0.3759959151585943,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006211156932091056,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18705612123436272,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019261096567,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525858048181788,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535071606509213,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15553784035435575,
+            "release_required_pad_clearance": 0.05267535803254607,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4054151362184072,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00790315866470337,
+            "max_z_decrease": 0.00790315866470337,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511654915702533,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00790315866470337,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021077463709628638,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00790315866470337,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007903181609796094,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12102673202753063,
+              -0.43225738406181335,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12102673202753063,
+              -0.43225738406181335,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11915802680166818,
+              -0.43243886826923106,
+              0.8069508216688428
+            ],
+            "closest_button": [
+              0.12101607769727704,
+              -0.4322512447834015,
+              0.7718839645385742
+            ],
+            "closest_ee_minus_button": [
+              -0.0018580508956088648,
+              -0.0001876234858295689,
+              0.03506685713026858
+            ],
+            "button_min_z_position": [
+              0.12100848555564876,
+              -0.43225193023681646,
+              0.7689056992530823
+            ],
+            "min_active_finger_to_button": 0.14789251670034198,
+            "closest_active_finger": [
+              -0.007436573505401611,
+              -0.4969189167022705,
+              0.8108482360839844
+            ],
+            "closest_active_finger_button": [
+              0.12102821469306942,
+              -0.4322576820850373,
+              0.7763820290565491
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.128464788198471,
+              -0.06466123461723322,
+              0.0344662070274353
+            ],
+            "min_contact_pad_to_button": 0.021077463709628638,
+            "closest_contact_pad": [
+              0.12100848555564876,
+              -0.43343242328408393,
+              0.7899500788494511
+            ],
+            "closest_contact_pad_button": [
+              0.12100848555564876,
+              -0.43225193023681646,
+              0.7689056992530823
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011804930472674724,
+              0.021044379596368845
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad87adf718849289dc86531dfb0c2ffab07445f0540a0cc57ed2add194b28737",
+    "visual_seed": 256764321592527065,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce9aae9595aa95728de26357126507789827e37f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_88_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24566853934130678,
+              -0.021740047584894416,
+              1.1609114027187137
+            ],
+            "current_z": 1.1609114027187137,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.3043248357055034,
+            "gripper_z": 1.154205532226378,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2408233666619272,
+              -0.02648448164351984,
+              1.154205532226378
+            ],
+            "object_minus_gripper": [
+              0.004845172679379589,
+              0.004744434058625423,
+              0.00670587049233573
+            ],
+            "object_to_gripper_xy": 0.006781250093430509,
+            "object_to_gripper_z": 0.00670587049233573,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24566853934130678,
+              -0.04563744082912352,
+              1.1609114027187137
+            ],
+            "finger_b": [
+              0.23479705048172933,
+              -0.021740047584894416,
+              1.1609114027187137
+            ],
+            "finger_midpoint": [
+              0.24023279491151805,
+              -0.03368874420700897,
+              1.1609114027187137
+            ],
+            "object_minus_finger_midpoint": [
+              0.005435744429788725,
+              0.011948696622114556,
+              0.0
+            ],
+            "finger_gap": 0.026254041096433964,
+            "fingertip_max_gap": 0.09112800415209854,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013127020548216984,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1609114027187137,
+            "object_top_z": 1.206277334349462,
+            "finger_top_clearance": 0.0453659316307482,
+            "fingertip_min_top_clearance": 0.013609779489224427,
+            "object_projection_between_fingers": 0.8285309550743454,
+            "object_to_finger_line_xy": 0.009895628770950094,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806400207604927,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7415865302837644,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27329958265477106,
+              -0.37668414186631427,
+              0.8470195229633588
+            ],
+            "target_position": [
+              0.26685699504936633,
+              -0.37703893729483906,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006452349560386254,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854106602704011,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195229633588,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574191179229556,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867061537465826,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15303462452635264,
+            "release_required_pad_clearance": 0.0533530768732913,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7214206755364119,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007860243320465088,
+            "max_z_decrease": 0.007860243320465088,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035180662367219125,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007860243320465088,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021064538190770254,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007860243320465088,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007860266233200117,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12255691736936569,
+              -0.4333004057407379,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12255691736936569,
+              -0.4333004057407379,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12421710182370524,
+              -0.43191970692863163,
+              0.8082341795946199
+            ],
+            "closest_button": [
+              0.12255214154720305,
+              -0.43329671025276184,
+              0.7731199264526367
+            ],
+            "closest_ee_minus_button": [
+              0.0016649602765021893,
+              0.0013770033241302104,
+              0.03511425314198313
+            ],
+            "button_min_z_position": [
+              0.12253814190626144,
+              -0.43329763412475586,
+              0.7689486145973206
+            ],
+            "min_active_finger_to_button": 0.14416021438289522,
+            "closest_active_finger": [
+              -0.0040578693151474,
+              -0.49308618903160095,
+              0.8107562065124512
+            ],
+            "closest_active_finger_button": [
+              0.12255668640136717,
+              -0.4332990050315857,
+              0.7764573097229004
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1266145557165146,
+              -0.05978718400001526,
+              0.03429889678955078
+            ],
+            "min_contact_pad_to_button": 0.021064538190770254,
+            "closest_contact_pad": [
+              0.12253814190626144,
+              -0.43329763412475586,
+              0.7900131527880908
+            ],
+            "closest_contact_pad_button": [
+              0.12253814190626144,
+              -0.43329763412475586,
+              0.7689486145973206
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021064538190770254
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "137847f7abd66770596f46543b280451e1b83d3635e257a34aec5891967daeb8",
+    "visual_seed": 8504886952610584082,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66389504a134b3da56dff0e118982f9a93ecb3c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_89_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2420907268948142,
+              -0.02183426468684967,
+              1.160176495859867
+            ],
+            "current_z": 1.160176495859867,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.303590107660591,
+            "gripper_z": 1.1536235735468623,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23705885411969813,
+              -0.026576077446715293,
+              1.1536235735468623
+            ],
+            "object_minus_gripper": [
+              0.005031872775116075,
+              0.004741812759865623,
+              0.00655292231300475
+            ],
+            "object_to_gripper_xy": 0.006914082142597005,
+            "object_to_gripper_z": 0.00655292231300475,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2420907268948142,
+              -0.04596949552803741,
+              1.160176495859867
+            ],
+            "finger_b": [
+              0.23137332410749845,
+              -0.02183426468684967,
+              1.160176495859867
+            ],
+            "finger_midpoint": [
+              0.23673202550115632,
+              -0.03390188010744354,
+              1.160176495859867
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053587013936578776,
+              0.012067615420593873,
+              0.0
+            ],
+            "finger_gap": 0.026407803586496612,
+            "fingertip_max_gap": 0.09097802983915465,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01320390179324831,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160176495859867,
+            "object_top_z": 1.205518494511011,
+            "finger_top_clearance": 0.045341998651143856,
+            "fingertip_min_top_clearance": 0.01360259959534319,
+            "object_projection_between_fingers": 0.8352920569817355,
+            "object_to_finger_line_xy": 0.009795096719899943,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798901491957733,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6983386741770361,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2755670000580297,
+              -0.3822859767270761,
+              0.847019445429469
+            ],
+            "target_position": [
+              0.2673090903887766,
+              -0.38356944422103617,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008357054559687646,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18811068875198492,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019445429469,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560671439283179,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08727605908032378,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15604113727277386,
+            "release_required_pad_clearance": 0.05363802954016189,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.285561828858726,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008151471614837646,
+            "max_z_decrease": 0.008151471614837646,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0349931299312236,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008151471614837646,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020968610657476457,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008151471614837646,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008151557270813162,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12300901859998702,
+              -0.4398308992385864,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12300901859998702,
+              -0.4398308992385864,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12276567616017697,
+              -0.4401075641876039,
+              0.8036481762550082
+            ],
+            "closest_button": [
+              0.12304010242223737,
+              -0.4398101568222046,
+              0.768657386302948
+            ],
+            "closest_ee_minus_button": [
+              -0.00027442626206039544,
+              -0.0002974073653992937,
+              0.034990789952060175
+            ],
+            "button_min_z_position": [
+              0.12304010242223737,
+              -0.4398101568222046,
+              0.768657386302948
+            ],
+            "min_active_finger_to_button": 0.14600062850463302,
+            "closest_active_finger": [
+              -0.017912819981575012,
+              -0.4233594834804535,
+              0.8111070394515991
+            ],
+            "closest_active_finger_button": [
+              0.12301121652126311,
+              -0.4398284256458282,
+              0.7766777873039246
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14092403650283813,
+              0.0164689421653747,
+              0.03442925214767456
+            ],
+            "min_contact_pad_to_button": 0.020968610657476457,
+            "closest_contact_pad": [
+              0.12304010242223737,
+              -0.4413511384322328,
+              0.7895692969899797
+            ],
+            "closest_contact_pad_button": [
+              0.12304010242223737,
+              -0.4398101568222046,
+              0.768657386302948
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015409816100281915,
+              0.020911910687031687
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "25f114af304b34589bb8450ca5ce1603b3977a11b0c7a991a255ef1991899fc7",
+    "visual_seed": 7234775925607023927,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e935fb69f9b0963072ae62e2a030f0c21d6a423
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_8_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2439795018954789,
+              -0.02679873621538932,
+              1.1579527262451927
+            ],
+            "current_z": 1.1579527262451927,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.3013662188366272,
+            "gripper_z": 1.1513758934170082,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23921149208817202,
+              -0.031513679177467155,
+              1.1513758934170082
+            ],
+            "object_minus_gripper": [
+              0.004768009807306878,
+              0.004714942962077834,
+              0.006576832828184553
+            ],
+            "object_to_gripper_xy": 0.006705565200504866,
+            "object_to_gripper_z": 0.006576832828184553,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2439795018954789,
+              -0.050636563689153494,
+              1.1579527262451927
+            ],
+            "finger_b": [
+              0.23316660984801763,
+              -0.02679873621538932,
+              1.1579527262451927
+            ],
+            "finger_midpoint": [
+              0.23857305587174826,
+              -0.03871764995227141,
+              1.1579527262451927
+            ],
+            "object_minus_finger_midpoint": [
+              0.005406446023730638,
+              0.011918913736882086,
+              0.0
+            ],
+            "finger_gap": 0.026175573596370287,
+            "fingertip_max_gap": 0.0913148585401295,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013087786798185144,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1579527262451927,
+            "object_top_z": 1.2033258710227064,
+            "finger_top_clearance": 0.04537314477751364,
+            "fingertip_min_top_clearance": 0.013611943433254092,
+            "object_projection_between_fingers": 0.8293558833228009,
+            "object_to_finger_line_xy": 0.009847190326922247,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815742927006475,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8749316133814473,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2765005722390803,
+              -0.37428517723607324,
+              0.8470194485822287
+            ],
+            "target_position": [
+              0.2696640705801696,
+              -0.37479854841183347,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006855749769090918,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18733352310183649,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194485822287,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537141923472315,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563152013860921,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15567000598980735,
+            "release_required_pad_clearance": 0.05281576006930461,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6772392501144393,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008101701736450195,
+            "max_z_decrease": 0.008101701736450195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035097303166328184,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008101701736450195,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021148857670173098,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008101701736450195,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008101732457402214,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12536399066448212,
+              -0.4310600161552429,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12536399066448212,
+              -0.4310600161552429,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1259495202172431,
+              -0.43266449047643774,
+              0.8037621214629019
+            ],
+            "closest_button": [
+              0.1253739446401596,
+              -0.43104004859924316,
+              0.7687071561813354
+            ],
+            "closest_ee_minus_button": [
+              0.0005755755770834869,
+              -0.0016244418771945712,
+              0.035054965281566486
+            ],
+            "button_min_z_position": [
+              0.1253739446401596,
+              -0.43104004859924316,
+              0.7687071561813354
+            ],
+            "min_active_finger_to_button": 0.14513191671899064,
+            "closest_active_finger": [
+              -0.015102490782737732,
+              -0.4191567301750183,
+              0.8107489943504333
+            ],
+            "closest_active_finger_button": [
+              0.12536507844924927,
+              -0.43105757236480713,
+              0.7762452960014343
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140467569231987,
+              0.011900842189788818,
+              0.03450369834899902
+            ],
+            "min_contact_pad_to_button": 0.021148857670173098,
+            "closest_contact_pad": [
+              0.1253739446401596,
+              -0.4336192726762383,
+              0.7896981491048226
+            ],
+            "closest_contact_pad_button": [
+              0.1253739446401596,
+              -0.43104004859924316,
+              0.7687071561813354
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025792240769951236,
+              0.02099099292348716
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96b37470aa4073cc5ff3d739bcf1292c5c507cc0e2fd22e618f66e8967110cd7",
+    "visual_seed": 5770525482730744489,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e8516efc982f0cfe4aaa1fdbc7e5f0754a82f1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_90_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2439551534298171,
+              -0.0188049406415919,
+              1.1578943704655562
+            ],
+            "current_z": 1.1578943704655562,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.3013079822662801,
+            "gripper_z": 1.1512627874357728,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2390237060227856,
+              -0.023520914835482895,
+              1.1512627874357728
+            ],
+            "object_minus_gripper": [
+              0.004931447407031497,
+              0.004715974193890995,
+              0.006631583029783394
+            ],
+            "object_to_gripper_xy": 0.006823458516453625,
+            "object_to_gripper_z": 0.006631583029783394,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2439551534298171,
+              -0.04292108331485363,
+              1.1578943704655562
+            ],
+            "finger_b": [
+              0.2333274134010129,
+              -0.0188049406415919,
+              1.1578943704655562
+            ],
+            "finger_midpoint": [
+              0.23864128341541502,
+              -0.030863011978222762,
+              1.1578943704655562
+            ],
+            "object_minus_finger_midpoint": [
+              0.005313870014402089,
+              0.012058071336630862,
+              0.0
+            ],
+            "finger_gap": 0.026354073604605465,
+            "fingertip_max_gap": 0.09104902817454202,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013177036802302726,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1578943704655562,
+            "object_top_z": 1.2032470208647723,
+            "finger_top_clearance": 0.0453526503992161,
+            "fingertip_min_top_clearance": 0.013605795119764829,
+            "object_projection_between_fingers": 0.8373753647142377,
+            "object_to_finger_line_xy": 0.009725255331463735,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048024514087271014,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6984365486626306,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2789035872127047,
+              -0.38190609688712873,
+              0.8470195972413651
+            ],
+            "target_position": [
+              0.26958522857765116,
+              -0.383899052299438,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009529096438116764,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19087656228657443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195972413651,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590690046112407,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08726248066489391,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1581987896797497,
+            "release_required_pad_clearance": 0.053631240332446956,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2725107805676794,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008055925369262695,
+            "max_z_decrease": 0.008055925369262695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035158180830732806,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008055925369262695,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02123097435999799,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008055925369262695,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008055936676173428,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12528514862060547,
+              -0.44016051292419434,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12528514862060547,
+              -0.44016051292419434,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12570520015602252,
+              -0.44205797873629105,
+              0.8079421006682661
+            ],
+            "closest_button": [
+              0.12527665495872495,
+              -0.4401553273200989,
+              0.7728380560874939
+            ],
+            "closest_ee_minus_button": [
+              0.00042854519729756957,
+              -0.0019026514161921693,
+              0.03510404458077221
+            ],
+            "button_min_z_position": [
+              0.12527935206890106,
+              -0.44014832377433777,
+              0.768752932548523
+            ],
+            "min_active_finger_to_button": 0.14558206351594402,
+            "closest_active_finger": [
+              -0.015423938632011414,
+              -0.42566436529159546,
+              0.8109760880470276
+            ],
+            "closest_active_finger_button": [
+              0.12528584897518158,
+              -0.4401588439941406,
+              0.7765551209449768
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140709787607193,
+              0.014494478702545166,
+              0.03442096710205078
+            ],
+            "min_contact_pad_to_button": 0.02123097435999799,
+            "closest_contact_pad": [
+              0.12527935206890106,
+              -0.4431535458688404,
+              0.7897701377013877
+            ],
+            "closest_contact_pad_button": [
+              0.12527935206890106,
+              -0.44014832377433777,
+              0.768752932548523
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030052220945026575,
+              0.02101720515286476
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95628cf111f11eae55ee9511d7529b3531fbd99de47c1f6ba54dadc4089d00c5",
+    "visual_seed": 2050678315715449837,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dbefe1d76013a8ba5fcdc364c66d20d10523b3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_91_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2501498011614778,
+              -0.021882628636694677,
+              1.1581110918370092
+            ],
+            "current_z": 1.1581110918370092,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30152458442844365,
+            "gripper_z": 1.1513049008867846,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24543939456991273,
+              -0.02666227489645273,
+              1.1513049008867846
+            ],
+            "object_minus_gripper": [
+              0.004710406591565047,
+              0.004779646259758054,
+              0.006806190950224611
+            ],
+            "object_to_gripper_xy": 0.006710659328730568,
+            "object_to_gripper_z": 0.006806190950224611,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2501498011614778,
+              -0.04558913211652486,
+              1.1581110918370092
+            ],
+            "finger_b": [
+              0.2390990648144687,
+              -0.021882628636694677,
+              1.1581110918370092
+            ],
+            "finger_midpoint": [
+              0.24462443298797323,
+              -0.03373588037660977,
+              1.1581110918370092
+            ],
+            "object_minus_finger_midpoint": [
+              0.005525368173504547,
+              0.01185325173991509,
+              0.0
+            ],
+            "finger_gap": 0.026155631918390126,
+            "fingertip_max_gap": 0.091335069607099,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013077815959195063,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1581110918370092,
+            "object_top_z": 1.203485490509348,
+            "finger_top_clearance": 0.04537439867233872,
+            "fingertip_min_top_clearance": 0.01361231960170165,
+            "object_projection_between_fingers": 0.8214943359934502,
+            "object_to_finger_line_xy": 0.010015981280148762,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481675348035495,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9247853404471968,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2744112733614109,
+              -0.3833821689238719,
+              0.8470194464046428
+            ],
+            "target_position": [
+              0.2681075846539382,
+              -0.3835236250078916,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006305275659669869,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843400818938092,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194464046428,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521511627470168,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500715839219795,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1531743032905293,
+            "release_required_pad_clearance": 0.05250357919609898,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912918092105026,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008030712604522705,
+            "max_z_decrease": 0.008030712604522705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035131426421715614,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008030712604522705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021204598199349958,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008030712604522705,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008030735432496893,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12380751222372055,
+              -0.43978509306907654,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12380751222372055,
+              -0.43978509306907654,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12398749809184767,
+              -0.44132203778601076,
+              0.8078795703285412
+            ],
+            "closest_button": [
+              0.12379840016365051,
+              -0.4397801756858826,
+              0.7727825045585632
+            ],
+            "closest_ee_minus_button": [
+              0.0001890979281971572,
+              -0.001541862100128133,
+              0.03509706576997795
+            ],
+            "button_min_z_position": [
+              0.12378948926925658,
+              -0.43977862596511846,
+              0.7687781453132629
+            ],
+            "min_active_finger_to_button": 0.1458543841713212,
+            "closest_active_finger": [
+              -0.017184756696224213,
+              -0.4253797233104706,
+              0.8110284209251404
+            ],
+            "closest_active_finger_button": [
+              0.12380818277597427,
+              -0.43978363275527954,
+              0.7765752673149109
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1409929394721985,
+              0.01440390944480896,
+              0.03445315361022949
+            ],
+            "min_contact_pad_to_button": 0.021204598199349958,
+            "closest_contact_pad": [
+              0.12378948926925658,
+              -0.4423776089087524,
+              0.789822866087238
+            ],
+            "closest_contact_pad_button": [
+              0.12378948926925658,
+              -0.43977862596511846,
+              0.7687781453132629
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025989829436339207,
+              0.021044720773975012
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c301ea5844e48e03c87d80f2f7f843a6a486824f155d9d0234ad114e429234da",
+    "visual_seed": 4029739645576081464,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87622ec446295d0baaf09769c293f99051151927
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_92_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2488106864042971,
+              -0.027203620274714766,
+              1.1584555618725096
+            ],
+            "current_z": 1.1584555618725096,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.30186911406858885,
+            "gripper_z": 1.1515532023778463,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24416985432278643,
+              -0.031810443004746586,
+              1.1515532023778463
+            ],
+            "object_minus_gripper": [
+              0.004640832081510671,
+              0.00460682273003182,
+              0.006902359494663335
+            ],
+            "object_to_gripper_xy": 0.0065391236473029395,
+            "object_to_gripper_z": 0.006902359494663335,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2488106864042971,
+              -0.05098607121664908,
+              1.1584555618725096
+            ],
+            "finger_b": [
+              0.23818422647477944,
+              -0.027203620274714766,
+              1.1584555618725096
+            ],
+            "finger_midpoint": [
+              0.24349745643953827,
+              -0.03909484574568192,
+              1.1584555618725096
+            ],
+            "object_minus_finger_midpoint": [
+              0.005313229964758831,
+              0.011891225470967156,
+              0.0
+            ],
+            "finger_gap": 0.0260485435953559,
+            "fingertip_max_gap": 0.09122268943973894,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013024271797677948,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1584555618725096,
+            "object_top_z": 1.20381243236804,
+            "finger_top_clearance": 0.04535687049553028,
+            "fingertip_min_top_clearance": 0.013607061148659083,
+            "object_projection_between_fingers": 0.833578157830722,
+            "object_to_finger_line_xy": 0.009702011209764595,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811134471986947,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9319001844590921,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2701686700138722,
+              -0.37694136192958555,
+              0.8470197201303113
+            ],
+            "target_position": [
+              0.2630239115067802,
+              -0.37737061232247143,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007157641372998252,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18779628808740337,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197201303113,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533907126934905,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853867760048909,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15623245633116428,
+            "release_required_pad_clearance": 0.052693388002445454,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4405727993053622,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00789874792098999,
+            "max_z_decrease": 0.00789874792098999,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035098802140567126,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00789874792098999,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021144786733030187,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00789874792098999,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007898767701841641,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11872383952140807,
+              -0.4336320757865905,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11872383952140807,
+              -0.4336320757865905,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11750490547264653,
+              -0.4347427698961951,
+              0.8075899946480696
+            ],
+            "closest_button": [
+              0.11871507763862607,
+              -0.4336260855197906,
+              0.7725298404693604
+            ],
+            "closest_ee_minus_button": [
+              -0.001210172165979545,
+              -0.0011166843764044976,
+              0.035060154178709224
+            ],
+            "button_min_z_position": [
+              0.11870694905519484,
+              -0.43362686038017273,
+              0.7689101099967957
+            ],
+            "min_active_finger_to_button": 0.14729385354077631,
+            "closest_active_finger": [
+              -0.023917444050312042,
+              -0.42121487855911255,
+              0.811051607131958
+            ],
+            "closest_active_finger_button": [
+              0.11872529238462447,
+              -0.4336304366588592,
+              0.7764917612075806
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14264273643493652,
+              0.012415558099746649,
+              0.03455984592437744
+            ],
+            "min_contact_pad_to_button": 0.021144786733030187,
+            "closest_contact_pad": [
+              0.11870694905519484,
+              -0.43561359625050483,
+              0.7899613542965245
+            ],
+            "closest_contact_pad_button": [
+              0.11870694905519484,
+              -0.43362686038017273,
+              0.7689101099967957
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019867358703321014,
+              0.021051244299728822
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fd638aedc82fdb7c0ae954602ac162c16b9a436bb66c609992e669bb897b57c9",
+    "visual_seed": 3400420446462519037,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4be1122453ffc34b94d08954a032b2a3bcda059b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_93_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24453065080254918,
+              -0.020270867828380255,
+              1.157306797098544
+            ],
+            "current_z": 1.157306797098544,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.300720408899268,
+            "gripper_z": 1.1506878017961393,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23981552943017362,
+              -0.025077826789572405,
+              1.1506878017961393
+            ],
+            "object_minus_gripper": [
+              0.004715121372375564,
+              0.00480695896119215,
+              0.006618995302404729
+            ],
+            "object_to_gripper_xy": 0.006733440726019523,
+            "object_to_gripper_z": 0.006618995302404729,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24453065080254918,
+              -0.04400152001208675,
+              1.157306797098544
+            ],
+            "finger_b": [
+              0.23347993009206164,
+              -0.020270867828380255,
+              1.157306797098544
+            ],
+            "finger_midpoint": [
+              0.2390052904473054,
+              -0.0321361939202335,
+              1.157306797098544
+            ],
+            "object_minus_finger_midpoint": [
+              0.005525360355243786,
+              0.011865326091853246,
+              0.0
+            ],
+            "finger_gap": 0.0261775148034578,
+            "fingertip_max_gap": 0.09122898252297548,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013088757401728903,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.157306797098544,
+            "object_top_z": 1.2027018653831238,
+            "finger_top_clearance": 0.04539506828457984,
+            "fingertip_min_top_clearance": 0.013618520485373953,
+            "object_projection_between_fingers": 0.8217931563486063,
+            "object_to_finger_line_xy": 0.010017788607084356,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811449126148774,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8037700135789584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26972737552789283,
+              -0.3836311941536221,
+              0.8470195498334301
+            ],
+            "target_position": [
+              0.26349217829439375,
+              -0.38390327650230766,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062411307745552655,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18680321617232626,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195498334301,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572818935312417,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08636662404663946,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15427255382477023,
+            "release_required_pad_clearance": 0.05318331202331973,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.388722925559938,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008113443851470947,
+            "max_z_decrease": 0.008113443851470947,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507533849099684,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008113443851470947,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021013393708070042,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008113443851470947,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008113478393550378,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11919210106134412,
+              -0.4401647448539733,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11919210106134412,
+              -0.4401647448539733,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12043168491547865,
+              -0.44018881341987737,
+              0.803749248065364
+            ],
+            "closest_button": [
+              0.11920443922281261,
+              -0.4401445388793945,
+              0.7686954140663147
+            ],
+            "closest_ee_minus_button": [
+              0.0012272456926660374,
+              -4.427454048289148e-05,
+              0.035053833999049266
+            ],
+            "button_min_z_position": [
+              0.11920443922281261,
+              -0.4401445388793945,
+              0.7686954140663147
+            ],
+            "min_active_finger_to_button": 0.14460349068212336,
+            "closest_active_finger": [
+              -0.020130552351474762,
+              -0.4224371314048767,
+              0.8106436729431152
+            ],
+            "closest_active_finger_button": [
+              0.11919235438108441,
+              -0.4401619732379913,
+              0.7762179970741272
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13932290673255918,
+              0.01772484183311457,
+              0.03442567586898804
+            ],
+            "min_contact_pad_to_button": 0.021013393708070042,
+            "closest_contact_pad": [
+              0.11920443922281261,
+              -0.4415203148563396,
+              0.7896637224289752
+            ],
+            "closest_contact_pad_button": [
+              0.11920443922281261,
+              -0.4401445388793945,
+              0.7686954140663147
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001375775976945104,
+              0.020968308362660504
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb1f121a87bc6df1b2efafa3f329a24933e3593d44e095c22c6be783941c23fa",
+    "visual_seed": 3720899354217176799,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7f0570045106de9a6224fcb2c16b3b980f916fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_94_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24489422330118074,
+              -0.027620165097322704,
+              1.1578956561952654
+            ],
+            "current_z": 1.1578956561952654,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.301309089182055,
+            "gripper_z": 1.1513898975650896,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2398593542444561,
+              -0.0324960439953301,
+              1.1513898975650896
+            ],
+            "object_minus_gripper": [
+              0.00503486905672465,
+              0.004875878898007394,
+              0.006505758630175773
+            ],
+            "object_to_gripper_xy": 0.007008858783453777,
+            "object_to_gripper_z": 0.006505758630175773,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24489422330118074,
+              -0.051553303113578586,
+              1.1578956561952654
+            ],
+            "finger_b": [
+              0.23374666027521798,
+              -0.027620165097322704,
+              1.1578956561952654
+            ],
+            "finger_midpoint": [
+              0.23932044178819936,
+              -0.03958673410545065,
+              1.1578956561952654
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055737815129813795,
+              0.011966569008127943,
+              0.0
+            ],
+            "finger_gap": 0.02640195554732574,
+            "fingertip_max_gap": 0.09095385985671306,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013200977773662873,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1578956561952654,
+            "object_top_z": 1.2032747674556852,
+            "finger_top_clearance": 0.045379111260419824,
+            "fingertip_min_top_clearance": 0.013613733378125947,
+            "object_projection_between_fingers": 0.8217261342937199,
+            "object_to_finger_line_xy": 0.01010516679217352,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797692992835653,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5630550860012988,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27423722859848965,
+              -0.3807004805450507,
+              0.8470193952507414
+            ],
+            "target_position": [
+              0.26708814479231885,
+              -0.38139961444203885,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071831878350472915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186313325034,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193952507414,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542417083899815,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08519476921605516,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15463592173360124,
+            "release_required_pad_clearance": 0.052597384608027584,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.25640534013189487,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00813591480255127,
+            "max_z_decrease": 0.00813591480255127,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506449528093286,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00813591480255127,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021174111024098795,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00813591480255127,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008135972128178107,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12278807163238524,
+              -0.4376610815525055,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12278807163238524,
+              -0.4376610815525055,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12295880053818745,
+              -0.439583738981669,
+              0.803683282487167
+            ],
+            "closest_button": [
+              0.12281130999326706,
+              -0.4376412630081177,
+              0.7686729431152344
+            ],
+            "closest_ee_minus_button": [
+              0.0001474905449203867,
+              -0.0019424759735513497,
+              0.03501033937193265
+            ],
+            "button_min_z_position": [
+              0.12281130999326706,
+              -0.4376412630081177,
+              0.7686729431152344
+            ],
+            "min_active_finger_to_button": 0.14537846170830732,
+            "closest_active_finger": [
+              -0.017524264752864838,
+              -0.4213823676109314,
+              0.8111352920532227
+            ],
+            "closest_active_finger_button": [
+              0.1227918192744255,
+              -0.43765830993652344,
+              0.7767639756202698
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14031608402729034,
+              0.01627594232559204,
+              0.03437131643295288
+            ],
+            "min_contact_pad_to_button": 0.021174111024098795,
+            "closest_contact_pad": [
+              0.12281130999326706,
+              -0.4409543118950343,
+              0.7895862566913696
+            ],
+            "closest_contact_pad_button": [
+              0.12281130999326706,
+              -0.4376412630081177,
+              0.7686729431152344
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0033130488869166363,
+              0.02091331357613524
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b8778f9af4486c9859222b04bcd0f46461f31e83b0f80c577569f2a5f5e36264",
+    "visual_seed": 7430552583257742929,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7116990dbc9d5d0bca720103c7ae95aab02c2b2e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_95_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24244631794346247,
+              -0.019632934879445896,
+              1.1585853585431591
+            ],
+            "current_z": 1.1585853585431591,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.301998970343883,
+            "gripper_z": 1.1520484927022756,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2376175621759549,
+              -0.02449806487674709,
+              1.1520484927022756
+            ],
+            "object_minus_gripper": [
+              0.004828755767507575,
+              0.004865129997301196,
+              0.006536865840883532
+            ],
+            "object_to_gripper_xy": 0.006854660615440972,
+            "object_to_gripper_z": 0.006536865840883532,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24244631794346247,
+              -0.04342833650363043,
+              1.1585853585431591
+            ],
+            "finger_b": [
+              0.2312942878337477,
+              -0.019632934879445896,
+              1.1585853585431591
+            ],
+            "finger_midpoint": [
+              0.23687030288860508,
+              -0.03153063569153816,
+              1.1585853585431591
+            ],
+            "object_minus_finger_midpoint": [
+              0.005576015054857386,
+              0.011897700812092266,
+              0.0
+            ],
+            "finger_gap": 0.026279058469135242,
+            "fingertip_max_gap": 0.09088587673718715,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013139529234567621,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1585853585431591,
+            "object_top_z": 1.2040132289456433,
+            "finger_top_clearance": 0.045427870402484194,
+            "fingertip_min_top_clearance": 0.013628361120745258,
+            "object_projection_between_fingers": 0.8199105530911817,
+            "object_to_finger_line_xy": 0.010098041971227224,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794293836859358,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4062633631111594,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27242648467191366,
+              -0.37848187457898447,
+              0.8470196203519719
+            ],
+            "target_position": [
+              0.2658079763048343,
+              -0.3789013776130515,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006631789788638554,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186984151876023,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196203519719,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566629552084497,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564893144036183,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1545103123710449,
+            "release_required_pad_clearance": 0.052824465720180916,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6932300939061525,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007898926734924316,
+            "max_z_decrease": 0.007898926734924316,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511850966131063,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007898926734924316,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105761233981417,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007898926734924316,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007898946273351606,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12150790542364122,
+              -0.43516284227371216,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12150790542364122,
+              -0.43516284227371216,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11974355449500002,
+              -0.4347868350536207,
+              0.8078778876716172
+            ],
+            "closest_button": [
+              0.12149979174137115,
+              -0.43515709042549133,
+              0.7728052735328674
+            ],
+            "closest_ee_minus_button": [
+              -0.0017562372463711395,
+              0.0003702553718706314,
+              0.035072614138749736
+            ],
+            "button_min_z_position": [
+              0.12149111926555634,
+              -0.4351576566696167,
+              0.7689099311828613
+            ],
+            "min_active_finger_to_button": 0.14758664165941074,
+            "closest_active_finger": [
+              -0.007603950798511505,
+              -0.49784404039382935,
+              0.8108441829681396
+            ],
+            "closest_active_finger_button": [
+              0.12150853127241136,
+              -0.435162216424942,
+              0.7764527201652527
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12911248207092285,
+              -0.06268182396888733,
+              0.03439146280288696
+            ],
+            "min_contact_pad_to_button": 0.02105761233981417,
+            "closest_contact_pad": [
+              0.12149111926555634,
+              -0.43588835386621627,
+              0.7899548621416641
+            ],
+            "closest_contact_pad_button": [
+              0.12149111926555634,
+              -0.4351576566696167,
+              0.7689099311828613
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007306971965995723,
+              0.021044930958802777
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "edfef779771a96f881573f0c856d9e7ca4e270e154aa17e8515340561034a627",
+    "visual_seed": 5378153922861354213,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1204c4f48d22d7e4093947e9ec1ff852c5f685a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_96_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24927327862569615,
+              -0.02393600442788509,
+              1.1582044496875683
+            ],
+            "current_z": 1.1582044496875683,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.30161788267435796,
+            "gripper_z": 1.1513725921859153,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2446054234830242,
+              -0.028650309917362074,
+              1.1513725921859153
+            ],
+            "object_minus_gripper": [
+              0.004667855142671956,
+              0.004714305489476985,
+              0.006831857501653049
+            ],
+            "object_to_gripper_xy": 0.006634270712073925,
+            "object_to_gripper_z": 0.006831857501653049,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24927327862569615,
+              -0.047724429501690625,
+              1.1582044496875683
+            ],
+            "finger_b": [
+              0.23845810441622814,
+              -0.02393600442788509,
+              1.1582044496875683
+            ],
+            "finger_midpoint": [
+              0.24386569152096216,
+              -0.03583021696478786,
+              1.1582044496875683
+            ],
+            "object_minus_finger_midpoint": [
+              0.005407587104733991,
+              0.01189421253690277,
+              0.0
+            ],
+            "finger_gap": 0.02613153575037644,
+            "fingertip_max_gap": 0.09123218937344568,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013065767875188214,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1582044496875683,
+            "object_top_z": 1.2036477997701645,
+            "finger_top_clearance": 0.045443350082596146,
+            "fingertip_min_top_clearance": 0.01363300502477881,
+            "object_projection_between_fingers": 0.8287079642456588,
+            "object_to_finger_line_xy": 0.00984542063657233,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811609468672284,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7021464080883686,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27876075306516956,
+              -0.38145415126699744,
+              0.8470195424746805
+            ],
+            "target_position": [
+              0.27222937177188644,
+              -0.381853967368681,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006543607148462853,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18567859747602378,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195424746805,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755856007669532,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08687493300321715,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153438393834473,
+            "release_required_pad_clearance": 0.05343746650160858,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8887947042180904,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008101165294647217,
+            "max_z_decrease": 0.008101165294647217,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508834332545984,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008101165294647217,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021024810412942695,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008101165294647217,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008101191626731804,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12792930006980896,
+              -0.43811541795730585,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12792930006980896,
+              -0.43811541795730585,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12906886285163885,
+              -0.438438444965519,
+              0.803776114400854
+            ],
+            "closest_button": [
+              0.1279372274875641,
+              -0.4380963444709778,
+              0.7687076926231384
+            ],
+            "closest_ee_minus_button": [
+              0.0011316353640747623,
+              -0.0003421004945411976,
+              0.03506842177771552
+            ],
+            "button_min_z_position": [
+              0.1279372274875641,
+              -0.4380963444709778,
+              0.7687076926231384
+            ],
+            "min_active_finger_to_button": 0.1446707390505891,
+            "closest_active_finger": [
+              -0.011823214590549469,
+              -0.42351460456848145,
+              0.8108781576156616
+            ],
+            "closest_active_finger_button": [
+              0.1279297769069672,
+              -0.438113123178482,
+              0.7764455080032349
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13975299149751666,
+              0.014598518610000555,
+              0.03443264961242676
+            ],
+            "min_contact_pad_to_button": 0.021024810412942695,
+            "closest_contact_pad": [
+              0.1279372274875641,
+              -0.43951769439673466,
+              0.7896844039308896
+            ],
+            "closest_contact_pad_button": [
+              0.1279372274875641,
+              -0.4380963444709778,
+              0.7687076926231384
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014213499257568762,
+              0.02097671130775114
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb650db97224aeddc2ae9ccc12f5d245d8d9349bb5e1a4769bd80a2a159f6206",
+    "visual_seed": 2057037147018698408,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45f35ad7876b1cde6fa66487cf8bc78296504696
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_97_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24947108653743222,
+              -0.028446577047541596,
+              1.1605859434980168
+            ],
+            "current_z": 1.1605859434980168,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.30399943608945146,
+            "gripper_z": 1.1537090060538824,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24479210928585657,
+              -0.03320214323321451,
+              1.1537090060538824
+            ],
+            "object_minus_gripper": [
+              0.00467897725157565,
+              0.00475556618567291,
+              0.006876937444134423
+            ],
+            "object_to_gripper_xy": 0.006671449457732406,
+            "object_to_gripper_z": 0.006876937444134423,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24947108653743222,
+              -0.05202225246034151,
+              1.1605859434980168
+            ],
+            "finger_b": [
+              0.23836142391200016,
+              -0.028446577047541596,
+              1.1605859434980168
+            ],
+            "finger_midpoint": [
+              0.2439162552247162,
+              -0.04023441475394156,
+              1.1605859434980168
+            ],
+            "object_minus_finger_midpoint": [
+              0.00555483131271603,
+              0.011787837706399962,
+              0.0
+            ],
+            "finger_gap": 0.026062177092879644,
+            "fingertip_max_gap": 0.09103336066265766,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013031088546439825,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1605859434980168,
+            "object_top_z": 1.2060055555127764,
+            "finger_top_clearance": 0.045419612014759636,
+            "fingertip_min_top_clearance": 0.01362588360442789,
+            "object_projection_between_fingers": 0.8182893598917328,
+            "object_to_finger_line_xy": 0.010049728350378626,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801668033132883,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7268866813679723,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27826891510043916,
+              -0.3764851369242184,
+              0.8470196674837585
+            ],
+            "target_position": [
+              0.27141715240382036,
+              -0.37690223284484536,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006864446158123799,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18491037816993527,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196674837585,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522408024178345,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622607222117361,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15372227400831656,
+            "release_required_pad_clearance": 0.053113036110586806,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2524017706345485,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008139491081237793,
+            "max_z_decrease": 0.008139491081237793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503219509246204,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008139491081237793,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021008942182202936,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008139491081237793,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008139558998388726,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1271170824766159,
+              -0.43316370248794556,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1271170824766159,
+              -0.43316370248794556,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12828071562605142,
+              -0.4339431268253416,
+              0.8036736571155407
+            ],
+            "closest_button": [
+              0.12713797390460965,
+              -0.43313783407211304,
+              0.7686693668365479
+            ],
+            "closest_ee_minus_button": [
+              0.0011427417214417701,
+              -0.0008052927532285481,
+              0.03500429027899288
+            ],
+            "button_min_z_position": [
+              0.12713797390460965,
+              -0.43313783407211304,
+              0.7686693668365479
+            ],
+            "min_active_finger_to_button": 0.14458291956987138,
+            "closest_active_finger": [
+              -0.012513697147369385,
+              -0.4182339012622833,
+              0.8111556172370911
+            ],
+            "closest_active_finger_button": [
+              0.12712080776691437,
+              -0.4331599771976471,
+              0.7767515778541565
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13963450491428375,
+              0.01492607593536377,
+              0.03440403938293457
+            ],
+            "min_contact_pad_to_button": 0.021008942182202936,
+            "closest_contact_pad": [
+              0.12713797390460965,
+              -0.43509297463814345,
+              0.7895871362439729
+            ],
+            "closest_contact_pad_button": [
+              0.12713797390460965,
+              -0.43313783407211304,
+              0.7686693668365479
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001955140566030411,
+              0.02091776940742507
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b7de34f3c0a4ae9ea14e64ff8769a6481d84865a9a1eb14d71ec364c736bf492",
+    "visual_seed": 4584711927342123198,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d94545f5617d9a6033395479994bff1aa463ee7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_98_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2502391144420136,
+              -0.02027865246851192,
+              1.1589759359960865
+            ],
+            "current_z": 1.1589759359960865,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.3023894881921657,
+            "gripper_z": 1.1523001676278275,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24521235622684776,
+              -0.025234547017298936,
+              1.1523001676278275
+            ],
+            "object_minus_gripper": [
+              0.005026758215165822,
+              0.004955894548787015,
+              0.006675768368259005
+            ],
+            "object_to_gripper_xy": 0.007058979312367613,
+            "object_to_gripper_z": 0.006675768368259005,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2502391144420136,
+              -0.04417921414815147,
+              1.1589759359960865
+            ],
+            "finger_b": [
+              0.23891694290782226,
+              -0.02027865246851192,
+              1.1589759359960865
+            ],
+            "finger_midpoint": [
+              0.2445780286749179,
+              -0.032228933308331695,
+              1.1589759359960865
+            ],
+            "object_minus_finger_midpoint": [
+              0.005661085767095675,
+              0.011950280839819773,
+              0.0
+            ],
+            "finger_gap": 0.0264467089985107,
+            "fingertip_max_gap": 0.09112105254831648,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013223354499255354,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1589759359960865,
+            "object_top_z": 1.204387471019319,
+            "finger_top_clearance": 0.045411535023232474,
+            "fingertip_min_top_clearance": 0.013623460506969743,
+            "object_projection_between_fingers": 0.8167195310327305,
+            "object_to_finger_line_xy": 0.010232133575320745,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048060526274158244,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6471623835141822,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27407030092425466,
+              -0.37317632825398744,
+              0.8470195512012937
+            ],
+            "target_position": [
+              0.26534046967519165,
+              -0.3743019894967929,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00880210582023821,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867499773699865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195512012937,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554633352740453,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544637099681664,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15468665427592668,
+            "release_required_pad_clearance": 0.05272318549840832,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4988919958934156,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007782638072967529,
+            "max_z_decrease": 0.007782638072967529,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350879548297815,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007782638072967529,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021084481896482318,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007782638072967529,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007782663055833277,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12104039639234541,
+              -0.4305634498596191,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12104039639234541,
+              -0.4305634498596191,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1209373181774333,
+              -0.43031018326354886,
+              0.808273782664781
+            ],
+            "closest_button": [
+              0.12104249000549314,
+              -0.4305582642555237,
+              0.7731868624687195
+            ],
+            "closest_ee_minus_button": [
+              -0.00010517182805983016,
+              0.0002480809919748195,
+              0.03508692019606152
+            ],
+            "button_min_z_position": [
+              0.12102132290601729,
+              -0.43055844306945795,
+              0.7690262198448181
+            ],
+            "min_active_finger_to_button": 0.1462227082149802,
+            "closest_active_finger": [
+              -0.005712345242500305,
+              -0.4948119521141052,
+              0.8109844326972961
+            ],
+            "closest_active_finger_button": [
+              0.1210416257381439,
+              -0.43056115508079523,
+              0.7765410542488098
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1267539709806442,
+              -0.06425079703330999,
+              0.03444337844848633
+            ],
+            "min_contact_pad_to_button": 0.021084481896482318,
+            "closest_contact_pad": [
+              0.12102132290601729,
+              -0.43124865113207733,
+              0.7900994016091694
+            ],
+            "closest_contact_pad_button": [
+              0.12102132290601729,
+              -0.43055844306945795,
+              0.7690262198448181
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006902080626193796,
+              0.021073181764351245
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c46f74d64ddf0cbab1a8956c03a1f2f665310d49e3656759e6e7ce0b636d1dbe",
+    "visual_seed": 4373890955989994193,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69f8f9aa7551941e00a45abaa72343418ff7e7d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_99_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24557548020546505,
+              -0.02208369295746296,
+              1.157950276016617
+            ],
+            "current_z": 1.157950276016617,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30136376860805136,
+            "gripper_z": 1.1514427658160353,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24084843159854313,
+              -0.02689587692875943,
+              1.1514427658160353
+            ],
+            "object_minus_gripper": [
+              0.004727048606921913,
+              0.004812183971296468,
+              0.006507510200581601
+            ],
+            "object_to_gripper_xy": 0.006745524672388727,
+            "object_to_gripper_z": 0.006507510200581601,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24557548020546505,
+              -0.04579029583175799,
+              1.157950276016617
+            ],
+            "finger_b": [
+              0.23448274511417802,
+              -0.02208369295746296,
+              1.157950276016617
+            ],
+            "finger_midpoint": [
+              0.24002911265982152,
+              -0.033936994394610474,
+              1.157950276016617
+            ],
+            "object_minus_finger_midpoint": [
+              0.005546367545643527,
+              0.011853301437147513,
+              0.0
+            ],
+            "finger_gap": 0.026173494066421547,
+            "fingertip_max_gap": 0.09154755853777924,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013086747033210777,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.157950276016617,
+            "object_top_z": 1.203401172065333,
+            "finger_top_clearance": 0.045450896048716105,
+            "fingertip_min_top_clearance": 0.013635268814614831,
+            "object_projection_between_fingers": 0.820380337215095,
+            "object_to_finger_line_xy": 0.010047228120614909,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827377926888962,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9718327919713362,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27191681606288376,
+              -0.37427952023279243,
+              0.8470196485460921
+            ],
+            "target_position": [
+              0.2654405765299892,
+              -0.37466502434735693,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006487703130521038,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18469786251575973,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196485460921,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580364987362737,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718056061972075,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15200770274498818,
+            "release_required_pad_clearance": 0.05359028030986038,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1907880483201563,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007790923118591309,
+            "max_z_decrease": 0.007790923118591309,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351063099505729,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007790923118591309,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107059430589264,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007790923118591309,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007790945200687803,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12114050239324568,
+              -0.43092647194862366,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12114050239324568,
+              -0.43092647194862366,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12108912508482428,
+              -0.43010061181339077,
+              0.8082345479261485
+            ],
+            "closest_button": [
+              0.12114020437002182,
+              -0.4309212267398834,
+              0.7731378674507141
+            ],
+            "closest_ee_minus_button": [
+              -5.107928519754168e-05,
+              0.0008206149264926577,
+              0.03509668047543435
+            ],
+            "button_min_z_position": [
+              0.12112220376729965,
+              -0.4309234321117401,
+              0.7690179347991943
+            ],
+            "min_active_finger_to_button": 0.1459175940405229,
+            "closest_active_finger": [
+              -0.006445601582527161,
+              -0.49282121658325195,
+              0.810857892036438
+            ],
+            "closest_active_finger_button": [
+              0.12114102393388747,
+              -0.4309244155883789,
+              0.7764720916748047
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12758662551641464,
+              -0.06189680099487305,
+              0.0343858003616333
+            ],
+            "min_contact_pad_to_button": 0.02107059430589264,
+            "closest_contact_pad": [
+              0.12112220376729965,
+              -0.4311830052920643,
+              0.7900869301755186
+            ],
+            "closest_contact_pad_button": [
+              0.12112220376729965,
+              -0.4309234321117401,
+              0.7690179347991943
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025957318032421295,
+              0.02106899537632423
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da57e09a42f36c1d1fcd82943fcd285c5fd2500c5146143d8a591faef467d2ee",
+    "visual_seed": 9124130338745856447,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..acbcab4db441053641dee591776428ce38d2008f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/episode_9_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24852498248852103,
+              -0.021293680514056897,
+              1.1591286904917635
+            ],
+            "current_z": 1.1591286904917635,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.30254206387390836,
+            "gripper_z": 1.1525130686706195,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2433640367912926,
+              -0.026191679750391023,
+              1.1525130686706195
+            ],
+            "object_minus_gripper": [
+              0.005160945697228442,
+              0.004897999236334126,
+              0.006615621821143947
+            ],
+            "object_to_gripper_xy": 0.007115177932340866,
+            "object_to_gripper_z": 0.006615621821143947,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24852498248852103,
+              -0.045459526297578545,
+              1.1591286904917635
+            ],
+            "finger_b": [
+              0.23748143852994846,
+              -0.021293680514056897,
+              1.1591286904917635
+            ],
+            "finger_midpoint": [
+              0.24300321050923473,
+              -0.03337660340581772,
+              1.1591286904917635
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055217719792863,
+              0.01208292289176082,
+              0.0
+            ],
+            "finger_gap": 0.026569681322851348,
+            "fingertip_max_gap": 0.09104932958578585,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013284840661425677,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1591286904917635,
+            "object_top_z": 1.2045058912993274,
+            "finger_top_clearance": 0.04537720080756391,
+            "fingertip_min_top_clearance": 0.013613160242269206,
+            "object_projection_between_fingers": 0.8272395854818627,
+            "object_to_finger_line_xy": 0.010044402752278348,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802466479289293,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6195257252405273,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27498918741952133,
+              -0.37864925617691636,
+              0.8470199119254173
+            ],
+            "target_position": [
+              0.2670298930818818,
+              -0.37975990050141756,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008036410714288279,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18637516174202728,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199119254173,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564395267780022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08661213811724915,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15426422474955143,
+            "release_required_pad_clearance": 0.053306069058624575,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6284255143070847,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008068621158599854,
+            "max_z_decrease": 0.008068621158599854,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514436573176407,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008068621158599854,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021024731424398035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008068621158599854,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008068632493859303,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12272981554269788,
+              -0.4360213577747345,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12272981554269788,
+              -0.4360213577747345,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12372157586412103,
+              -0.43497826991096383,
+              0.8038553058359322
+            ],
+            "closest_button": [
+              0.12272383272647855,
+              -0.4360092282295227,
+              0.7687402367591858
+            ],
+            "closest_ee_minus_button": [
+              0.0009977431376424761,
+              0.0010309583185588722,
+              0.03511506907674644
+            ],
+            "button_min_z_position": [
+              0.12272383272647855,
+              -0.4360092282295227,
+              0.7687402367591858
+            ],
+            "min_active_finger_to_button": 0.14456185508386116,
+            "closest_active_finger": [
+              -0.0037692412734031677,
+              -0.49699166417121887,
+              0.810596227645874
+            ],
+            "closest_active_finger_button": [
+              0.1227297559380531,
+              -0.43601956963539124,
+              0.7762663960456848
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12649899721145627,
+              -0.06097209453582764,
+              0.03432983160018921
+            ],
+            "min_contact_pad_to_button": 0.021024731424398035,
+            "closest_contact_pad": [
+              0.12272383272647855,
+              -0.4362592332443293,
+              0.7897634817266175
+            ],
+            "closest_contact_pad_button": [
+              0.12272383272647855,
+              -0.4360092282295227,
+              0.7687402367591858
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000250005014806598,
+              0.021023244967431687
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "workflow_spec_digest": "105d8d84a8afc894240e5b9b40a6876405a1dcbd5d3529642803bb26485f6c06",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5f1c89626dc4950e97534d5d3d05f9c0564a5703e35091f8e387f3b8b3b5859",
+    "visual_seed": 2435010258873531647,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800
+    ],
+    "runtime_workflow_digest": "89c3caf7a2e6039679199cb744ef23d29d48ab7f68df613ca4cbaff60efa5f0e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..c85bfa878cf973700e86570770fa6bca42e1bf70
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00008/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s03_plr_htd_00008",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..84353c292370541415e8f10fa739de73337f928a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fce40abd6883d19bf2250859f1fa534013a7345bae089f44764dc1f5fd1cfd0d
+size 5769422
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6b96ee0ef879b8c9465d656ebbe3541720defb09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f98a10e15d0a27c3df629db908bb54803f1572e6191f540c1bb203c87691cb15
+size 4029192
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..da3d660de5d1301bcffc3a8c73a0cab5bbcf7463
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a715d765265ada96c390432bc5db4ee553c1734f4aa420821bb2f60660ec4dd0
+size 4080866
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f9c38eef4d1ced8b4a40b90b83e7e34c741ea710
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4695dba14fea1116f806b7af70221589f5d6d4d12fc98f5e904a0edfa4c0c766
+size 4299927
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a5cc2c9742d65e6189503b262157777c4a68f334
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e007fd1cbc227951736afa05635d8c1d8826765a645819aace1e3aeac57cd2
+size 5809634
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..022f158cc2162e48539fe91c1dc6fa8e44fb2da7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fd8014e302cac3768b81c06f022a8594fe6d4d7f9eb73b349890637eae5d055
+size 5886148
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6e1c0eee65d4bcdca450fa45e31f0f6bf72faf0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5da6d15e1353dcfea30649e9e47680bb69aac3eef775e70a64195eefff2f38a8
+size 5396456
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cb937fb0fb407c271dd8b6aa36e1e636eb9d1f9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b84d648d3aa9f42f07a7c00a83d79ff0c734654ea20a01cec5732088751e58f
+size 3917483
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11e4de10cef6588fa30c2d78d2026fc977f278ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adbfd58059c0c51c5dd51b8127aa0fa6f5126ea3839c98f84bfc78be0720a8de
+size 4363309
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..90c94e21dba10ffb4860323cb6a95972359bcad5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c64831d0e2b9e0c6d75793ef749190a1dc088a0f2fc9c2992effdb4d641f2f3d
+size 4011487
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7242b518ec5adf9a5ed4aec2993dfb65ce4da4e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e32bd50d25d1b0e8fe65f2c678b4a49f636e607123f19fa287b9d62937dd6901
+size 5186183
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..77f1e77ffb9997beab632fed26d818e240dbf5b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d83a8b650ae1c7c6fa9f32464d9e97eba87adf7b594e7748597b08d89c2a6ab3
+size 4595029
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..776fe067943c55170187cb58258feabb14bc319f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f3225d86805a335c8fe608e92e1c01376a90a9f90047592fd09a379c7acc0c
+size 4003932
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9312c4cb57e183099c9d249054a105f1eed0e4ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd76c01b9cf79b102a2e84fda1b6b705ec79908069d9a3e6f0d0542bb770a775
+size 6088967
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5303e07a20a1ef0d7fa9171ec1b249b89355d240
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3e41fbeeecd961e4ec89cf9edff5aba55d5f8104de560bc6bf04dbc0fbba050
+size 4613079
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9de9264c4373aeb631bf0e2ab9146634fdb76e53
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b68bea26c53b5f8c399b1e005c30684d361b196625adfb4f08d8d562bf9bc98
+size 5004768
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5fc77e348abc2f7f5a7ee451cba5256d1c3bdacf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21a629276c86f9980829a06d6bea9395e32f067af0bb4a0de58260fbc301306c
+size 4491860
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..596baa41b37f2c30d8713426eb6ac1919d2ccc25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a5c623f227c3c1996b6bf9bfd3b02f497131f5c1a18fc4ec017f248c108e2a9
+size 4266249
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d1bb46bf4a66e2192446629ba9f945cb889f7a75
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a466e2ae09fae4a171536be498da4308cf95f56d9587c21d4d61d0d598c6ce0
+size 5558261
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4b1d648f658695988332e6ca4f88fd17f5d53c8d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd9e1cecae2d92c0a7ce4f135eba7eb0ff35c56f39a57fe41dd8adfee34e91d2
+size 5104917
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9335b1abda5ec05cb19a1d496e5e5c822a54417b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:830f90d68e0f34161c57574a8b9df05446cce081898d3d04bc35d31354cbf42e
+size 4371920
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e87c429e46811a308b171fb0eec170a10f3d5130
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74599e1261e74e545723db70ae2c93a89d69b04c616a61511da36e3881e498db
+size 4960449
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..afa4084dcced37b462f1e0a60c177e68882d1d04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ff7a04f6f260406e0a6c36bfc4f5f3e386c9a46f4f29a5758ad5fd471068925
+size 6231263
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..75cfaeb820a9757cc0898ea1f65d501145e005ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd96f7e9b507c382915f2030d597c7a1a4f087c86dc03960ed0dd0f5a28ce6a1
+size 4305923
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fe14b0d8d67d3a50d20321a9d2ca0d33ca1fa047
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe2db2f0cf09347b04e97f70734edad6ae999fb3aeed3b9b5aa9e602241ae34
+size 4388441
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2037bd240a2932cccbc92e2c14172e24625e1e68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc5956896bd2585eb147adb0ee155f27455e2ab52f9e5b52a6b9aae2aab7088b
+size 4538724
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e0f78e9d6d3dcc28f47e570d5b73da268547f5be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58c6c598487cf165edcb875238c2b42a27fff403d45cae196fbb80c457325c2d
+size 4838139
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25863b73e879fab179e7590b41ca6294e9e14d98
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0e8c4c1b8d4e9f16cd11825b4cdba4777505d6537ed4a15be678b3cfa84731c
+size 5166503
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e52d38c5a0dd0a5f3f565ef67f180926e38cf86c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73bccd6a65d46673ed56fc0e8d57a15540c4e299645b616a70748504a39efe6d
+size 3745329
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2d42d9112df3270401441067f731d750b0257f55
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15d3c30fbbc0e46c5069199dee0f8e30f72108b613bac3c5edf76d5f6ad27e9e
+size 5020683
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b21b10e0d261584d39f4c17747c7fad43e08addc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c784960fbd541d7ba397580cd50cea3d9da4eea5ab2021fa721d2ffe55aea682
+size 5156324
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1c919df849bf1fef96eec1a0b840e602967a77f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:292459db73509b4fbf336d7c7d621addd7449fcc33056ad4d14515692b74045a
+size 4425237
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d64c210a18fe069d17d5aebbb2909633ad28119e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf2331b05b993a942a9cada68282cb32a4b911c89e9a8604522f2cf104d34eb
+size 5131275
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e82fabe5ef8d6f4ff28dadb3e53a51647e06830
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8080a4a703dd04b740bc21a9ae58c61b9a83654cca728b7f9eeae27589e9ad7e
+size 5974312
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a9ef4440166fc0dd1e4c9c9be6ef4d2a3632a0f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:094e2456a8bea2f916008cca7b2694af9081ac1672792fcee4f993aec45e0a4b
+size 5772029
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f398fcfcd29988aabf8b419e6295cda857a802ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83b3a7d358d8936d8e81675f27aba784846b1a9fc93969f44eeef0abf73dad30
+size 5103432
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5438c98158620eaa46454a828beca3596353c3b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83b1c5f35dacc2d3b474eb8ddd6653040498e0b6d26c3f9df0ae7fc7e766ddd4
+size 5858638
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b5b108218486832a07c73984d19770b2ddfa73e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c25f655afdca56ea156c5e615bc0039169467e258eb448bf18c1fb6a8d7ee9e
+size 3624834
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60f31bbd24346883572bdd77a2014f0f31c326ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93296477e82db57aa7839103cee0dc1cc9cc5df649f864d5b8cdcd9b3780e0db
+size 4571907
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d8e74186136b8a2789985973ca44dfd49c1b6aae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b46575b982a34faef9687d6ccf56e5483fb9c10f96bb8b4757f8d8060aa8d21e
+size 3847508
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5dfdd78d5bbbac7adfce399e278c8b1dc14e215f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5eb56bf71dc55a9a82292cb7b3f5145bd648d7595cc1f80abac1012281e0566
+size 4788243
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ae6d37301ce9238c3e8884698696fa5c0d07a073
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb48e927837e1cb5603e1c1269ff21942b1f72ae9bedca798c45e818a27a50a8
+size 5834423
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ccf61df0fb837a1fef49fb3b700f06a0ff496536
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad602dc0dff3e0d20a96a26e4f805618bb65b959dde864c83da8c5ed41a5bc21
+size 5448966
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5c629bcf2d7f36926fb643ad52fcdd544911b392
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b84972db841c1da44b0d406e8b76ff707676b984c427ad9b1c7c3ff4c39d0d5
+size 5091371
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f44866ef1106325d8a20185afeec55cbf92fd658
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:760e7b866bf6d638e31664ab6ee73fb21b6f24c8190f06da285f7e8393736d37
+size 4679397
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af9d7490d366b1a8d3d9f6a7988b5921b89b192c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5572194a551a089f9d85308418d8c2516392fabc4969e9f48a2e8ebcd96c49b
+size 4895257
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2db300aff51f35eb868a107782b7b5a387672820
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:934d018bdcf8887a02d690ccf52e230d674aa6ed4ee023b31fc33cc39135d724
+size 4801425
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..10b8a05788a4e9389ed8ad203af7ecfe541d5c35
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d1e6c785c66277490ed6443ead07c380d5d71dd4942b6f9620f5cc4e9710b6b
+size 5894888
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4545b0e71744bc5d052237cf4fc47c9132180df5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da0a01987939f0d85b444dcfc68b880b1527ce37178a50c7a29340d11f3d52d8
+size 6016450
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3cfaf72e8b8128600e566bb85d489351a5d76e24
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9455aed5c478f49f7420e170ec41669aee27f0b77a6158baa4d2e683145f13f
+size 4949907
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..737bfbaf0f19dbc8b60988902cf1193a5eda9160
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87908e0469f6488d20717bdc0cef555948a4cec77f3e78a6c4a23a4458d6c789
+size 4985138
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cb2a3777aac34f19f3c85933d440f6690f688861
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85b8c280b9098b3e413b0172e7cd078c6cf1bcf7f8169e878155cabbf212244a
+size 4916070
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e747ae0e71dc0ca3cb09f647dcc5bde482434fd5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b96bd6425106e62499c2f4e945516bc69c79fb23770e06448ab14cdfb1eac775
+size 5025544
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21405be5f73bb7e29dee3bb4b934c712bb74564d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e84aef4114584edc77a1a45056c6983dfba4d7b9643fc51485defe30e8082ee
+size 6059626
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7e021c25ff415edc0d9dc4f162524de4ad220443
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f59d3e51b38c058ba936dedb97b9908c711ab7dbb1a3bd6e5cc7740d5cdbdbad
+size 5055864
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8b86ead9fb6b66878ff4d60e52ea502bf6158ae9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e882eafcf3f3ba1bd5ed40b195444053dd55c5b7a072167df997b8de7194fa8a
+size 5094339
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0fc28d37d4845824d9473205eb02a6b00e917502
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56307bfe2b57bda8852bbff9e443f47de7c9eaec41cbf7ab2beee6ccecc3ed7d
+size 4588342
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aae125b5eaccfbbb7509b0bdf70a99d68310e08a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8b21aad76508b6aa4ce37d3d289452e5c8f9a4ee07f09d4013912490707d45c
+size 4202434
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..752e93c9794b71ebb92d352a8cab382016108524
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e82ca4f95f59627da5fac163910d1c74b17f2ede0a2fb4a35bd0fb5be83a14
+size 4573086
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5ca3d45e0c7311b04327aedda81f364b80c2a4b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:464ea847b0d4860757f0e6b52b81f512e2a8e65c2874043735a7f6afd3181eb1
+size 4798183
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bb80dbd5881c05ff447e6c56889af5b828533f6c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b4965d8d9e90bcba1bd1939cb2dbde8e37a092de57149316086f28cda0098f2
+size 4859409
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..90753b1bda7fd4c3a86540220ef0d9e6e566bb73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fe4489428cc9da050c8a2a9630d7b965456ffa7b6b348a47e8ef268ac173e0d
+size 5513176
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..832522089a407d20d4a73ce13c8c0dc04ae50d51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d38cca3a429d9f4a902ebf9dd9b95e62e0d984689f13acbe10da4eaca3f650c2
+size 4296708
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8d171e20190c76014ff006a43856b0b99d0e0a98
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09b2ba7113951066b6de91e045243438952f6cc66b9a08f1946e6134fb9cc484
+size 3892259
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cb96ff73738b0d2959eca3c6f4873418ad7b3120
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5f3becd1fa37633de02f5d92f702ee62c88692f572a47376c42756aa1d0a273
+size 5454964
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11d82c899b5f3afb3405630f8eb5df8cd9fa9c69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eda73c308361d0f360294866446efbecb9ed813c082d34c6c3705df718711770
+size 4354744
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3b93a778b2d30eab4ef733fc2cc076160c2d1952
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f41a6244b86546361e92c1925d6ef9f1209126a054f3870756ee6138c51d336
+size 5830318
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a8e2a7655ec483e097bc9fde0f08e728a2018b9a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fd9af416b2c168244f7e55e8148e5a53d45f81e8b8f00aa296e9120e1d06627
+size 4583381
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e61e8d316d6701195b2a9398e3501f3cdc958a8b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fc2f785333824f633e3c6259a929888acd70d70f63b1e798e2d0052ced06fd8
+size 4407373
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..185db4e9d661e8dfde611d5f4c36371c0e063d65
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:763b98a3b4a08d8e7ffb7c348a9697a099a0481e8456d8e3d8819b3bb7c1cf05
+size 5135185
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..793b46adb424fca015f109a35d741cbbf253d132
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:726e7e9a52eea763360ecdd26e5c3cd9a315180bc28b3343ff30b46b63dbf607
+size 3208172
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..33dcb2432470cc5b2a93e4d97795604e74fbc449
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b3e0fd17e76ea2f6d3ee917fd841e495cf5e04a09a2441583814d3797b89f8
+size 5510460
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b0bc8f46c4c61aa4746adc708a55abc0c1fc4629
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7fdce8444599d9cf4e4b2ba4873722fadb08bfbab89f8ca536db736257ad03c
+size 4557363
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..58096f5204fe66c4c619b2266cc93662a0feff61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e56a4df5f21a69fd263f7d5d843cf66b0ca4c4bb10f46cc6ac59fb69341494fe
+size 4325697
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..279a007cd08fe9ee60723052860eeb8cab9281a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd9e8b0c28294080d07584ad2908c2989ccd21d3e642f095870044a6228b6b72
+size 4907288
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..001684707714873f2006760d6126327aab00e5bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:522b19911095ad6cf44f015aed15232d31c087b46df3a39d046bd722d0431a9a
+size 4548141
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..357b35b7f33b16fb93452f9c00243775567d2158
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00006e8a517ed289d1a80c97982d20a20a87fa0450bd9ed3c8b042565457e9f6
+size 4774016
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1347bce2bb7d5b2832e2a988ce8c4f2e54b28166
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd77c95bd7d4945a9bdd20bef8b41ec90aaf00c0d18c966aeb159442d3f409f0
+size 3986786
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f69197059afa36425a6dc67dc7d1ac0a31ca66e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:610a6af7500994b417274ab4db50de896427bc51fd8ce2dc1b1f50154c80973d
+size 4443725
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..79d79d415b01ff1d61ecce20ddc506d7970a9000
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:092c55a8b6857fac5e72b1e81257a6ef020a87e910a3d5b48b189e86e7782d0b
+size 3645687
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..32e7384a3ac38568958caff7a6ab91b5da262780
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fdeff591786f9589ee587a145fe59f008fa0ff1f445feb5524a02ef318eca25
+size 4541135
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..acd366614a591fcdaa8a2f96132bea1e8c119f67
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:725f4079c9f787a46cbf65a88504d3b4f6ab95abaf5c69baa1cf478ca95165bf
+size 4589178
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bd471200f3b59fd2ea82197173ff301562d0162e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00009/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:377064421481045958333f430fb1f2a756b696ab04111e22c566240059ce45c6
+size 5074497